; LLVM IR from zig-gamedev/zphysics :: libs/Jolt/Physics/Constraints (ContactConstraintManager)

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

%"struct.JPH::BodyPair" = type { %"class.JPH::BodyID", %"class.JPH::BodyID" }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.1 }
%union.anon.1 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"struct.JPH::AssertLastParam" = type { i8 }
%"class.JPH::ContactSettings" = type { float, float, float, float, float, float, i8, %"class.JPH::Vec3", %"class.JPH::Vec3" }
%"class.JPH::ContactManifold" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SubShapeID", %"class.JPH::SubShapeID", [4 x i8], %"class.JPH::StaticArray.19", %"class.JPH::StaticArray.19" }
%"class.JPH::SubShapeID" = type { i32 }
%"class.JPH::StaticArray.19" = type { i32, [12 x i8], [64 x %"struct.JPH::StaticArray<JPH::Vec3, 64>::Storage"] }
%"struct.JPH::StaticArray<JPH::Vec3, 64>::Storage" = type { [16 x i8] }
%"class.JPH::ContactConstraintManager" = type { [8 x i8], [2 x %"class.JPH::ContactConstraintManager::ManifoldCache"], i32, ptr, ptr, ptr, ptr, ptr, i32, %"struct.std::atomic", ptr }
%"class.JPH::ContactConstraintManager::ManifoldCache" = type <{ %"class.JPH::LFHMAllocator", %"class.JPH::LockFreeHashMap", %"class.JPH::LockFreeHashMap.0", i8, [7 x i8] }>
%"class.JPH::LFHMAllocator" = type { ptr, i32, %"struct.std::atomic" }
%"class.JPH::LockFreeHashMap" = type { ptr, %"struct.std::atomic", ptr, i32, i32 }
%"class.JPH::LockFreeHashMap.0" = type { ptr, %"struct.std::atomic", ptr, i32, i32 }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::ContactConstraintManager::CachedBodyPair" = type { %"class.JPH::Float3", %"class.JPH::Float3", i32 }
%"class.JPH::Float3" = type { float, float, float }
%"struct.JPH::PhysicsSettings" = type <{ i32, i32, i32, float, float, float, float, float, float, float, float, float, float, float, i32, i32, float, float, float, i8, i8, i8, i8, i8, i8, i8, i8 }>
%"class.JPH::PhysicsUpdateContext" = type <{ ptr, ptr, ptr, ptr, float, float, %"struct.std::atomic", [4 x i8], ptr, ptr, ptr, %"class.JPH::Array.18", i32, [4 x i8], ptr, %"struct.std::atomic", [4 x i8] }>
%"class.JPH::Array.18" = type { %"class.JPH::STLTempAllocator", i64, i64, ptr }
%"class.JPH::STLTempAllocator" = type { ptr }
%"class.JPH::ContactConstraintManager::CachedManifold" = type { i32, %"class.JPH::Float3", %"struct.std::atomic.5", i16, [1 x %"class.JPH::ContactConstraintManager::CachedContactPoint"] }
%"struct.std::atomic.5" = type { %"struct.std::__atomic_base.6" }
%"struct.std::__atomic_base.6" = type { i16 }
%"class.JPH::ContactConstraintManager::CachedContactPoint" = type { %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::Vector" }
%"class.JPH::Vector" = type { [2 x float] }
%"class.JPH::ContactConstraintManager::ContactAllocator" = type { %"class.JPH::LFHMAllocatorContext.base", i32, i32, i32 }
%"class.JPH::LFHMAllocatorContext.base" = type <{ ptr, i32, i32, i32 }>
%"class.JPH::ContactConstraintManager::ContactConstraint" = type { ptr, ptr, i64, %"class.JPH::Float3", float, float, float, float, float, %"class.JPH::StaticArray" }
%"class.JPH::StaticArray" = type { i32, [4 x i8], [4 x %"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage"] }
%"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage" = type { [200 x i8] }
%"class.JPH::ContactConstraintManager::WorldContactPoint" = type { %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", %"class.JPH::AxisConstraintPart", ptr }
%"class.JPH::AxisConstraintPart" = type { %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::SpringPart", float }
%"class.JPH::SpringPart" = type { float, float }

@.str.1 = external hidden unnamed_addr constant [113 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [64 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [71 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: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122)) #1 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: 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) #3

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #4 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_14SubShapeIDPairEmi(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 4 dereferenceable(16), i64 noundef, i32 noundef) #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN3JPHoRERNS_19EPhysicsUpdateErrorES0_(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(56) ptr @_ZN3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK3JPH24ContactConstraintManager13ManifoldCache8ToHandleEPKNS_15LockFreeHashMapINS_14SubShapeIDPairENS0_14CachedManifoldEE8KeyValueE(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache10FromHandleEj(ptr noundef nonnull align 8 dereferenceable(81), i32 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache4FindERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(56) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(16) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue6GetKeyEv(ptr noundef nonnull align 4 dereferenceable(76)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(28) ptr @_ZNK3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK3JPH8BodyPair7GetHashEv(ptr noundef nonnull align 8 dereferenceable(8)) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(28) ptr @_ZN3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40)) #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK3JPH14SubShapeIDPair7GetHashEv(ptr noundef nonnull align 4 dereferenceable(16)) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN3JPH24ContactConstraintManager14CachedManifold21sGetRequiredTotalSizeEi(i32 noundef) #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i16 @_ZNSt13__atomic_baseItEoREt(ptr noundef nonnull align 2 dereferenceable(2), i16 noundef zeroext) #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH24ContactConstraintManager20GetContactsFromCacheERNS0_16ContactAllocatorERNS_4BodyES4_RbS5_(ptr noundef nonnull align 8 dereferenceable(248) %0, ptr noundef nonnull align 8 dereferenceable(32) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(122) %3, ptr noundef nonnull align 1 dereferenceable(1) %4, ptr noundef nonnull align 1 dereferenceable(1) %5) #5 align 2 personality ptr @__gxx_personality_v0 {
  %7 = alloca ptr, align 8
  %8 = alloca ptr, align 8
  %9 = alloca ptr, align 8
  %10 = alloca ptr, align 8
  %11 = alloca ptr, align 8
  %12 = alloca ptr, align 8
  %13 = alloca ptr, align 8
  %14 = alloca ptr, align 8
  %15 = alloca %"struct.JPH::BodyPair", align 8
  %16 = alloca %"class.JPH::BodyID", align 4
  %17 = alloca %"class.JPH::BodyID", align 4
  %18 = alloca i64, align 8
  %19 = alloca ptr, align 8
  %20 = alloca ptr, align 8
  %21 = alloca i32, align 4
  %22 = alloca ptr, align 8
  %23 = alloca %"class.JPH::Quat", align 16
  %24 = alloca %"class.JPH::Quat", align 16
  %25 = alloca %"class.JPH::Vec3", align 16
  %26 = alloca %"class.JPH::Vec3", align 16
  %27 = alloca %"class.JPH::Vec3", align 16
  %28 = alloca %"class.JPH::Vec3", align 16
  %29 = alloca %"class.JPH::Vec3", align 16
  %30 = alloca %"class.JPH::Vec3", align 16
  %31 = alloca %"class.JPH::Vec3", align 16
  %32 = alloca %"class.JPH::Quat", align 16
  %33 = alloca %"class.JPH::Quat", align 16
  %34 = alloca %"class.JPH::Quat", align 16
  %35 = alloca %"class.JPH::Quat", align 16
  %36 = alloca ptr, align 8
  %37 = alloca ptr, align 8
  %38 = alloca ptr, align 8
  %39 = alloca %"class.JPH::Mat44", align 16
  %40 = alloca %"class.JPH::Mat44", align 16
  %41 = alloca float, align 4
  %42 = alloca i32, align 4
  %43 = alloca i32, align 4
  %44 = alloca ptr, align 8
  %45 = alloca ptr, align 8
  %46 = alloca ptr, align 8
  %47 = alloca %"struct.JPH::AssertLastParam", align 1
  %48 = alloca i64, align 8
  %49 = alloca ptr, align 8
  %50 = alloca ptr, align 8
  %51 = alloca %"class.JPH::ContactSettings", align 16
  %52 = alloca %"class.JPH::Vec3", align 16
  %53 = alloca %"class.JPH::Vec3", align 16
  %54 = alloca %"class.JPH::Vec3", align 16
  %55 = alloca %"class.JPH::ContactManifold", align 16
  %56 = alloca ptr, align 8
  %57 = alloca i32, align 4
  %58 = alloca %"class.JPH::Vec3", align 16
  %59 = alloca %"class.JPH::Mat44", align 16
  %60 = alloca %"class.JPH::Mat44", align 16
  %61 = alloca %"class.JPH::Vec3", align 16
  %62 = alloca float, align 4
  %63 = alloca i32, align 4
  %64 = alloca ptr, align 8
  %65 = alloca %"class.JPH::Vec3", align 16
  %66 = alloca %"class.JPH::Vec3", align 16
  %67 = alloca %"class.JPH::Vec3", align 16
  %68 = alloca %"class.JPH::Vec3", align 16
  %69 = alloca float, align 4
  %70 = alloca %"class.JPH::Vec3", align 16
  %71 = alloca %"class.JPH::Vec3", align 16
  %72 = alloca %"class.JPH::Vec3", align 16
  %73 = alloca %"struct.JPH::AssertLastParam", align 1
  %74 = alloca i32, align 4
  %75 = alloca ptr, align 8
  %76 = alloca i32, align 4
  %77 = alloca ptr, align 8
  %78 = alloca ptr, align 8
  store ptr %0, ptr %7, align 8, !tbaa !5
  store ptr %1, ptr %8, align 8, !tbaa !5
  store ptr %2, ptr %9, align 8, !tbaa !5
  store ptr %3, ptr %10, align 8, !tbaa !5
  store ptr %4, ptr %11, align 8, !tbaa !5
  store ptr %5, ptr %12, align 8, !tbaa !5
  %79 = load ptr, ptr %7, align 8
  %80 = load ptr, ptr %12, align 8, !tbaa !5
  store i8 0, ptr %80, align 1, !tbaa !9
  %81 = load ptr, ptr %11, align 8, !tbaa !5
  store i8 0, ptr %81, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %13) #11
  call void @llvm.lifetime.start.p0(i64 8, ptr %14) #11
  %82 = load ptr, ptr %9, align 8, !tbaa !5
  %83 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %82)
  %84 = load ptr, ptr %10, align 8, !tbaa !5
  %85 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %84)
  %86 = call noundef zeroext i1 @_ZNK3JPH6BodyIDltERKS0_(ptr noundef nonnull align 4 dereferenceable(4) %83, ptr noundef nonnull align 4 dereferenceable(4) %85)
  br i1 %86, label %87, label %90

87:                                               ; preds = %6
  %88 = load ptr, ptr %9, align 8, !tbaa !5
  store ptr %88, ptr %13, align 8, !tbaa !5
  %89 = load ptr, ptr %10, align 8, !tbaa !5
  store ptr %89, ptr %14, align 8, !tbaa !5
  br label %93

90:                                               ; preds = %6
  %91 = load ptr, ptr %10, align 8, !tbaa !5
  store ptr %91, ptr %13, align 8, !tbaa !5
  %92 = load ptr, ptr %9, align 8, !tbaa !5
  store ptr %92, ptr %14, align 8, !tbaa !5
  br label %93

93:                                               ; preds = %90, %87
  call void @llvm.lifetime.start.p0(i64 8, ptr %15) #11
  %94 = load ptr, ptr %13, align 8, !tbaa !5
  %95 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %94)
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %16, ptr align 4 %95, i64 4, i1 false), !tbaa.struct !11
  %96 = load ptr, ptr %14, align 8, !tbaa !5
  %97 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %96)
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %17, ptr align 4 %97, i64 4, i1 false), !tbaa.struct !11
  %98 = getelementptr inbounds %"class.JPH::BodyID", ptr %16, i32 0, i32 0
  %99 = load i32, ptr %98, align 4
  %100 = getelementptr inbounds %"class.JPH::BodyID", ptr %17, i32 0, i32 0
  %101 = load i32, ptr %100, align 4
  call void @_ZN3JPH8BodyPairC2ENS_6BodyIDES1_(ptr noundef nonnull align 8 dereferenceable(8) %15, i32 %99, i32 %101)
  call void @llvm.lifetime.start.p0(i64 8, ptr %18) #11
  %102 = call noundef i64 @_ZNK3JPH8BodyPair7GetHashEv(ptr noundef nonnull align 8 dereferenceable(8) %15)
  store i64 %102, ptr %18, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %19) #11
  %103 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 1
  %104 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 2
  %105 = load i32, ptr %104, align 8, !tbaa !16
  %106 = xor i32 %105, 1
  %107 = sext i32 %106 to i64
  %108 = getelementptr inbounds [2 x %"class.JPH::ContactConstraintManager::ManifoldCache"], ptr %103, i64 0, i64 %107
  store ptr %108, ptr %19, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %20) #11
  %109 = load ptr, ptr %19, align 8, !tbaa !5
  %110 = load i64, ptr %18, align 8, !tbaa !14
  %111 = call noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache4FindERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81) %109, ptr noundef nonnull align 8 dereferenceable(8) %15, i64 noundef %110)
  store ptr %111, ptr %20, align 8, !tbaa !5
  %112 = load ptr, ptr %20, align 8, !tbaa !5
  %113 = icmp eq ptr %112, null
  br i1 %113, label %114, label %115

114:                                              ; preds = %93
  store i32 1, ptr %21, align 4
  br label %765

115:                                              ; preds = %93
  call void @llvm.lifetime.start.p0(i64 8, ptr %22) #11
  %116 = load ptr, ptr %20, align 8, !tbaa !5
  %117 = call noundef nonnull align 4 dereferenceable(28) ptr @_ZNK3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40) %116)
  store ptr %117, ptr %22, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %23) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %24) #11
  %118 = load ptr, ptr %13, align 8, !tbaa !5
  %119 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %118)
  %120 = getelementptr inbounds %"class.JPH::Quat", ptr %24, i32 0, i32 0
  %121 = getelementptr inbounds %"class.JPH::Vec4", ptr %120, i32 0, i32 0
  %122 = getelementptr inbounds %union.anon.1, ptr %121, i32 0, i32 0
  %123 = getelementptr inbounds { double, double }, ptr %122, i32 0, i32 0
  %124 = extractvalue { double, double } %119, 0
  store double %124, ptr %123, align 16
  %125 = getelementptr inbounds { double, double }, ptr %122, i32 0, i32 1
  %126 = extractvalue { double, double } %119, 1
  store double %126, ptr %125, align 8
  %127 = call { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %24)
  %128 = getelementptr inbounds %"class.JPH::Quat", ptr %23, i32 0, i32 0
  %129 = getelementptr inbounds %"class.JPH::Vec4", ptr %128, i32 0, i32 0
  %130 = getelementptr inbounds %union.anon.1, ptr %129, i32 0, i32 0
  %131 = getelementptr inbounds { double, double }, ptr %130, i32 0, i32 0
  %132 = extractvalue { double, double } %127, 0
  store double %132, ptr %131, align 16
  %133 = getelementptr inbounds { double, double }, ptr %130, i32 0, i32 1
  %134 = extractvalue { double, double } %127, 1
  store double %134, ptr %133, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %24) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %25) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %27) #11
  %135 = load ptr, ptr %14, align 8, !tbaa !5
  %136 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %135)
  %137 = getelementptr inbounds %"class.JPH::Vec3", ptr %27, 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 = load ptr, ptr %13, align 8, !tbaa !5
  %144 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %143)
  %145 = getelementptr inbounds %"class.JPH::Vec3", ptr %28, i32 0, i32 0
  %146 = getelementptr inbounds %union.anon, ptr %145, i32 0, i32 0
  %147 = getelementptr inbounds { double, double }, ptr %146, i32 0, i32 0
  %148 = extractvalue { double, double } %144, 0
  store double %148, ptr %147, align 16
  %149 = getelementptr inbounds { double, double }, ptr %146, i32 0, i32 1
  %150 = extractvalue { double, double } %144, 1
  store double %150, ptr %149, align 8
  %151 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 0
  %152 = load double, ptr %151, align 16
  %153 = getelementptr inbounds { double, double }, ptr %28, i32 0, i32 1
  %154 = load double, ptr %153, align 8
  %155 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %27, double %152, double %154)
  %156 = getelementptr inbounds %"class.JPH::Vec3", ptr %26, i32 0, i32 0
  %157 = getelementptr inbounds %union.anon, ptr %156, i32 0, i32 0
  %158 = getelementptr inbounds { double, double }, ptr %157, i32 0, i32 0
  %159 = extractvalue { double, double } %155, 0
  store double %159, ptr %158, align 16
  %160 = getelementptr inbounds { double, double }, ptr %157, i32 0, i32 1
  %161 = extractvalue { double, double } %155, 1
  store double %161, ptr %160, align 8
  %162 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 0
  %163 = load double, ptr %162, align 16
  %164 = getelementptr inbounds { double, double }, ptr %26, i32 0, i32 1
  %165 = load double, ptr %164, align 8
  %166 = call { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16) %23, double %163, double %165)
  %167 = getelementptr inbounds %"class.JPH::Vec3", ptr %25, i32 0, i32 0
  %168 = getelementptr inbounds %union.anon, ptr %167, i32 0, i32 0
  %169 = getelementptr inbounds { double, double }, ptr %168, i32 0, i32 0
  %170 = extractvalue { double, double } %166, 0
  store double %170, ptr %169, align 16
  %171 = getelementptr inbounds { double, double }, ptr %168, i32 0, i32 1
  %172 = extractvalue { double, double } %166, 1
  store double %172, ptr %171, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %27) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %29) #11
  %173 = load ptr, ptr %22, align 8, !tbaa !5
  %174 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedBodyPair", ptr %173, i32 0, i32 0
  %175 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %174)
  %176 = getelementptr inbounds %"class.JPH::Vec3", ptr %29, i32 0, i32 0
  %177 = getelementptr inbounds %union.anon, ptr %176, i32 0, i32 0
  %178 = getelementptr inbounds { double, double }, ptr %177, i32 0, i32 0
  %179 = extractvalue { double, double } %175, 0
  store double %179, ptr %178, align 16
  %180 = getelementptr inbounds { double, double }, ptr %177, i32 0, i32 1
  %181 = extractvalue { double, double } %175, 1
  store double %181, ptr %180, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %30) #11
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %31, ptr align 16 %29, i64 16, i1 false), !tbaa.struct !20
  %182 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 0
  %183 = load double, ptr %182, align 16
  %184 = getelementptr inbounds { double, double }, ptr %31, i32 0, i32 1
  %185 = load double, ptr %184, align 8
  %186 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %25, double %183, double %185)
  %187 = getelementptr inbounds %"class.JPH::Vec3", ptr %30, i32 0, i32 0
  %188 = getelementptr inbounds %union.anon, ptr %187, i32 0, i32 0
  %189 = getelementptr inbounds { double, double }, ptr %188, i32 0, i32 0
  %190 = extractvalue { double, double } %186, 0
  store double %190, ptr %189, align 16
  %191 = getelementptr inbounds { double, double }, ptr %188, i32 0, i32 1
  %192 = extractvalue { double, double } %186, 1
  store double %192, ptr %191, align 8
  %193 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %30)
  %194 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 3
  %195 = load ptr, ptr %194, align 8, !tbaa !22
  %196 = getelementptr inbounds %"struct.JPH::PhysicsSettings", ptr %195, i32 0, i32 10
  %197 = load float, ptr %196, align 4, !tbaa !23
  %198 = fcmp ogt float %193, %197
  call void @llvm.lifetime.end.p0(i64 16, ptr %30) #11
  br i1 %198, label %199, label %200

199:                                              ; preds = %115
  store i32 1, ptr %21, align 4
  br label %764

200:                                              ; preds = %115
  call void @llvm.lifetime.start.p0(i64 16, ptr %32) #11
  %201 = load ptr, ptr %14, align 8, !tbaa !5
  %202 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %201)
  %203 = getelementptr inbounds %"class.JPH::Quat", ptr %33, i32 0, i32 0
  %204 = getelementptr inbounds %"class.JPH::Vec4", ptr %203, i32 0, i32 0
  %205 = getelementptr inbounds %union.anon.1, ptr %204, i32 0, i32 0
  %206 = getelementptr inbounds { double, double }, ptr %205, i32 0, i32 0
  %207 = extractvalue { double, double } %202, 0
  store double %207, ptr %206, align 16
  %208 = getelementptr inbounds { double, double }, ptr %205, i32 0, i32 1
  %209 = extractvalue { double, double } %202, 1
  store double %209, ptr %208, align 8
  %210 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 0
  %211 = load double, ptr %210, align 16
  %212 = getelementptr inbounds { double, double }, ptr %33, i32 0, i32 1
  %213 = load double, ptr %212, align 8
  %214 = call { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %23, double %211, double %213)
  %215 = getelementptr inbounds %"class.JPH::Quat", ptr %32, i32 0, i32 0
  %216 = getelementptr inbounds %"class.JPH::Vec4", ptr %215, i32 0, i32 0
  %217 = getelementptr inbounds %union.anon.1, ptr %216, i32 0, i32 0
  %218 = getelementptr inbounds { double, double }, ptr %217, i32 0, i32 0
  %219 = extractvalue { double, double } %214, 0
  store double %219, ptr %218, align 16
  %220 = getelementptr inbounds { double, double }, ptr %217, i32 0, i32 1
  %221 = extractvalue { double, double } %214, 1
  store double %221, ptr %220, align 8
  call void @llvm.lifetime.start.p0(i64 16, ptr %34) #11
  %222 = load ptr, ptr %22, align 8, !tbaa !5
  %223 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedBodyPair", ptr %222, i32 0, i32 1
  %224 = call { double, double } @_ZN3JPH4Quat17sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %223)
  %225 = getelementptr inbounds %"class.JPH::Quat", ptr %34, i32 0, i32 0
  %226 = getelementptr inbounds %"class.JPH::Vec4", ptr %225, i32 0, i32 0
  %227 = getelementptr inbounds %union.anon.1, ptr %226, i32 0, i32 0
  %228 = getelementptr inbounds { double, double }, ptr %227, i32 0, i32 0
  %229 = extractvalue { double, double } %224, 0
  store double %229, ptr %228, align 16
  %230 = getelementptr inbounds { double, double }, ptr %227, i32 0, i32 1
  %231 = extractvalue { double, double } %224, 1
  store double %231, ptr %230, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %35, ptr align 16 %34, i64 16, i1 false), !tbaa.struct !20
  %232 = getelementptr inbounds { double, double }, ptr %35, i32 0, i32 0
  %233 = load double, ptr %232, align 16
  %234 = getelementptr inbounds { double, double }, ptr %35, i32 0, i32 1
  %235 = load double, ptr %234, align 8
  %236 = call noundef float @_ZNK3JPH4Quat3DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %32, double %233, double %235)
  %237 = call noundef float @_ZSt3absf(float noundef %236)
  %238 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 3
  %239 = load ptr, ptr %238, align 8, !tbaa !22
  %240 = getelementptr inbounds %"struct.JPH::PhysicsSettings", ptr %239, i32 0, i32 11
  %241 = load float, ptr %240, align 4, !tbaa !26
  %242 = fcmp olt float %237, %241
  br i1 %242, label %243, label %244

243:                                              ; preds = %200
  store i32 1, ptr %21, align 4
  br label %763

244:                                              ; preds = %200
  %245 = load ptr, ptr %11, align 8, !tbaa !5
  store i8 1, ptr %245, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %36) #11
  %246 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 1
  %247 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 2
  %248 = load i32, ptr %247, align 8, !tbaa !16
  %249 = sext i32 %248 to i64
  %250 = getelementptr inbounds [2 x %"class.JPH::ContactConstraintManager::ManifoldCache"], ptr %246, i64 0, i64 %249
  store ptr %250, ptr %36, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %37) #11
  %251 = load ptr, ptr %36, align 8, !tbaa !5
  %252 = load ptr, ptr %8, align 8, !tbaa !5
  %253 = load i64, ptr %18, align 8, !tbaa !14
  %254 = call noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81) %251, ptr noundef nonnull align 8 dereferenceable(32) %252, ptr noundef nonnull align 8 dereferenceable(8) %15, i64 noundef %253)
  store ptr %254, ptr %37, align 8, !tbaa !5
  %255 = load ptr, ptr %37, align 8, !tbaa !5
  %256 = icmp eq ptr %255, null
  br i1 %256, label %257, label %258

257:                                              ; preds = %244
  store i32 1, ptr %21, align 4
  br label %762

258:                                              ; preds = %244
  call void @llvm.lifetime.start.p0(i64 8, ptr %38) #11
  %259 = load ptr, ptr %37, align 8, !tbaa !5
  %260 = call noundef nonnull align 4 dereferenceable(28) ptr @_ZN3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40) %259)
  store ptr %260, ptr %38, align 8, !tbaa !5
  %261 = load ptr, ptr %38, align 8, !tbaa !5
  %262 = load ptr, ptr %22, align 8, !tbaa !5
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %261, ptr align 4 %262, i64 28, i1 false)
  %263 = load ptr, ptr %22, align 8, !tbaa !5
  %264 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedBodyPair", ptr %263, i32 0, i32 2
  %265 = load i32, ptr %264, align 4, !tbaa !27
  %266 = icmp eq i32 %265, -1
  br i1 %266, label %267, label %268

267:                                              ; preds = %258
  store i32 1, ptr %21, align 4
  br label %761

268:                                              ; preds = %258
  call void @llvm.lifetime.start.p0(i64 64, ptr %39) #11
  %269 = load ptr, ptr %13, align 8, !tbaa !5
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %39, ptr noundef nonnull align 16 dereferenceable(122) %269)
  call void @llvm.lifetime.start.p0(i64 64, ptr %40) #11
  %270 = load ptr, ptr %14, align 8, !tbaa !5
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %40, ptr noundef nonnull align 16 dereferenceable(122) %270)
  call void @llvm.lifetime.start.p0(i64 4, ptr %41) #11
  %271 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 10
  %272 = load ptr, ptr %271, align 8, !tbaa !30
  %273 = getelementptr inbounds %"class.JPH::PhysicsUpdateContext", ptr %272, i32 0, i32 4
  %274 = load float, ptr %273, align 8, !tbaa !31
  store float %274, ptr %41, align 4, !tbaa !35
  call void @llvm.lifetime.start.p0(i64 4, ptr %42) #11
  store i32 -1, ptr %42, align 4, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 4, ptr %43) #11
  %275 = load ptr, ptr %22, align 8, !tbaa !5
  %276 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedBodyPair", ptr %275, i32 0, i32 2
  %277 = load i32, ptr %276, align 4, !tbaa !27
  store i32 %277, ptr %43, align 4, !tbaa !12
  br label %278

278:                                              ; preds = %754, %268
  call void @llvm.lifetime.start.p0(i64 8, ptr %44) #11
  %279 = load ptr, ptr %19, align 8, !tbaa !5
  %280 = load i32, ptr %43, align 4, !tbaa !12
  %281 = call noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache10FromHandleEj(ptr noundef nonnull align 8 dereferenceable(81) %279, i32 noundef %280)
  store ptr %281, ptr %44, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %45) #11
  %282 = load ptr, ptr %44, align 8, !tbaa !5
  %283 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue6GetKeyEv(ptr noundef nonnull align 4 dereferenceable(76) %282)
  store ptr %283, ptr %45, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %46) #11
  %284 = load ptr, ptr %44, align 8, !tbaa !5
  %285 = call noundef nonnull align 4 dereferenceable(56) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76) %284)
  store ptr %285, ptr %46, align 8, !tbaa !5
  br label %286

286:                                              ; preds = %278
  %287 = load ptr, ptr %46, align 8, !tbaa !5
  %288 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %287, i32 0, i32 3
  %289 = load i16, ptr %288, align 2, !tbaa !36
  %290 = zext i16 %289 to i32
  %291 = icmp sgt i32 %290, 0
  br i1 %291, label %295, label %292

292:                                              ; preds = %286
  %293 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef @.str.6, ptr noundef @.str.1, i32 noundef 820)
  br i1 %293, label %294, label %295

294:                                              ; preds = %292
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #11, !srcloc !41
  br label %295

295:                                              ; preds = %294, %292, %286
  br label %296

296:                                              ; preds = %295
  br label %297

297:                                              ; preds = %296
  call void @llvm.lifetime.start.p0(i64 8, ptr %48) #11
  %298 = load ptr, ptr %45, align 8, !tbaa !5
  %299 = call noundef i64 @_ZNK3JPH14SubShapeIDPair7GetHashEv(ptr noundef nonnull align 4 dereferenceable(16) %298)
  store i64 %299, ptr %48, align 8, !tbaa !14
  call void @llvm.lifetime.start.p0(i64 8, ptr %49) #11
  %300 = load ptr, ptr %36, align 8, !tbaa !5
  %301 = load ptr, ptr %8, align 8, !tbaa !5
  %302 = load ptr, ptr %45, align 8, !tbaa !5
  %303 = load i64, ptr %48, align 8, !tbaa !14
  %304 = load ptr, ptr %46, align 8, !tbaa !5
  %305 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %304, i32 0, i32 3
  %306 = load i16, ptr %305, align 2, !tbaa !36
  %307 = zext i16 %306 to i32
  %308 = call noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_14SubShapeIDPairEmi(ptr noundef nonnull align 8 dereferenceable(81) %300, ptr noundef nonnull align 8 dereferenceable(32) %301, ptr noundef nonnull align 4 dereferenceable(16) %302, i64 noundef %303, i32 noundef %307)
  store ptr %308, ptr %49, align 8, !tbaa !5
  %309 = load ptr, ptr %49, align 8, !tbaa !5
  %310 = icmp eq ptr %309, null
  br i1 %310, label %311, label %312

311:                                              ; preds = %297
  store i32 2, ptr %21, align 4
  br label %751

312:                                              ; preds = %297
  call void @llvm.lifetime.start.p0(i64 8, ptr %50) #11
  %313 = load ptr, ptr %49, align 8, !tbaa !5
  %314 = call noundef nonnull align 4 dereferenceable(56) ptr @_ZN3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76) %313)
  store ptr %314, ptr %50, align 8, !tbaa !5
  %315 = load ptr, ptr %50, align 8, !tbaa !5
  %316 = load ptr, ptr %46, align 8, !tbaa !5
  %317 = load ptr, ptr %46, align 8, !tbaa !5
  %318 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %317, i32 0, i32 3
  %319 = load i16, ptr %318, align 2, !tbaa !36
  %320 = zext i16 %319 to i32
  %321 = call noundef i32 @_ZN3JPH24ContactConstraintManager14CachedManifold21sGetRequiredTotalSizeEi(i32 noundef %320)
  %322 = sext i32 %321 to i64
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %315, ptr align 4 %316, i64 %322, i1 false)
  %323 = load i32, ptr %42, align 4, !tbaa !12
  %324 = load ptr, ptr %50, align 8, !tbaa !5
  %325 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %324, i32 0, i32 0
  store i32 %323, ptr %325, align 4, !tbaa !42
  %326 = load ptr, ptr %36, align 8, !tbaa !5
  %327 = load ptr, ptr %49, align 8, !tbaa !5
  %328 = call noundef i32 @_ZNK3JPH24ContactConstraintManager13ManifoldCache8ToHandleEPKNS_15LockFreeHashMapINS_14SubShapeIDPairENS0_14CachedManifoldEE8KeyValueE(ptr noundef nonnull align 8 dereferenceable(81) %326, ptr noundef %327)
  store i32 %328, ptr %42, align 4, !tbaa !12
  call void @llvm.lifetime.start.p0(i64 64, ptr %51) #11
  call void @_ZN3JPH15ContactSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(64) %51)
  %329 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 5
  %330 = load ptr, ptr %329, align 8, !tbaa !43
  %331 = load ptr, ptr %13, align 8, !tbaa !5
  %332 = load ptr, ptr %45, align 8, !tbaa !5
  %333 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %332)
  %334 = load ptr, ptr %14, align 8, !tbaa !5
  %335 = load ptr, ptr %45, align 8, !tbaa !5
  %336 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %335)
  %337 = call noundef float %330(ptr noundef nonnull align 16 dereferenceable(122) %331, ptr noundef nonnull align 4 dereferenceable(4) %333, ptr noundef nonnull align 16 dereferenceable(122) %334, ptr noundef nonnull align 4 dereferenceable(4) %336)
  %338 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 0
  store float %337, ptr %338, align 16, !tbaa !44
  %339 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 6
  %340 = load ptr, ptr %339, align 8, !tbaa !47
  %341 = load ptr, ptr %13, align 8, !tbaa !5
  %342 = load ptr, ptr %45, align 8, !tbaa !5
  %343 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %342)
  %344 = load ptr, ptr %14, align 8, !tbaa !5
  %345 = load ptr, ptr %45, align 8, !tbaa !5
  %346 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %345)
  %347 = call noundef float %340(ptr noundef nonnull align 16 dereferenceable(122) %341, ptr noundef nonnull align 4 dereferenceable(4) %343, ptr noundef nonnull align 16 dereferenceable(122) %344, ptr noundef nonnull align 4 dereferenceable(4) %346)
  %348 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 1
  store float %347, ptr %348, align 4, !tbaa !48
  %349 = load ptr, ptr %13, align 8, !tbaa !5
  %350 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %349)
  br i1 %350, label %354, label %351

351:                                              ; preds = %312
  %352 = load ptr, ptr %14, align 8, !tbaa !5
  %353 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %352)
  br label %354

354:                                              ; preds = %351, %312
  %355 = phi i1 [ true, %312 ], [ %353, %351 ]
  %356 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 6
  %357 = zext i1 %355 to i8
  store i8 %357, ptr %356, align 8, !tbaa !49
  call void @llvm.lifetime.start.p0(i64 16, ptr %52) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %53) #11
  %358 = load ptr, ptr %50, align 8, !tbaa !5
  %359 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %358, i32 0, i32 1
  %360 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %359)
  %361 = getelementptr inbounds %"class.JPH::Vec3", ptr %54, i32 0, i32 0
  %362 = getelementptr inbounds %union.anon, ptr %361, i32 0, i32 0
  %363 = getelementptr inbounds { double, double }, ptr %362, i32 0, i32 0
  %364 = extractvalue { double, double } %360, 0
  store double %364, ptr %363, align 16
  %365 = getelementptr inbounds { double, double }, ptr %362, i32 0, i32 1
  %366 = extractvalue { double, double } %360, 1
  store double %366, ptr %365, align 8
  %367 = getelementptr inbounds { double, double }, ptr %54, i32 0, i32 0
  %368 = load double, ptr %367, align 16
  %369 = getelementptr inbounds { double, double }, ptr %54, i32 0, i32 1
  %370 = load double, ptr %369, align 8
  %371 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %40, double %368, double %370)
  %372 = getelementptr inbounds %"class.JPH::Vec3", ptr %53, i32 0, i32 0
  %373 = getelementptr inbounds %union.anon, ptr %372, i32 0, i32 0
  %374 = getelementptr inbounds { double, double }, ptr %373, i32 0, i32 0
  %375 = extractvalue { double, double } %371, 0
  store double %375, ptr %374, align 16
  %376 = getelementptr inbounds { double, double }, ptr %373, i32 0, i32 1
  %377 = extractvalue { double, double } %371, 1
  store double %377, ptr %376, align 8
  %378 = call { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %53)
  %379 = getelementptr inbounds %"class.JPH::Vec3", ptr %52, i32 0, i32 0
  %380 = getelementptr inbounds %union.anon, ptr %379, i32 0, i32 0
  %381 = getelementptr inbounds { double, double }, ptr %380, i32 0, i32 0
  %382 = extractvalue { double, double } %378, 0
  store double %382, ptr %381, align 16
  %383 = getelementptr inbounds { double, double }, ptr %380, i32 0, i32 1
  %384 = extractvalue { double, double } %378, 1
  store double %384, ptr %383, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr %53) #11
  %385 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 4
  %386 = load ptr, ptr %385, align 8, !tbaa !50
  %387 = icmp ne ptr %386, null
  br i1 %387, label %388, label %573

388:                                              ; preds = %354
  call void @llvm.lifetime.start.p0(i64 2128, ptr %55) #11
  call void @_ZN3JPH15ContactManifoldC2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %55) #11
  %389 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 1
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %389, ptr align 16 %52, i64 16, i1 false), !tbaa.struct !20
  %390 = load ptr, ptr %45, align 8, !tbaa !5
  %391 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %390)
          to label %392 unwind label %442

392:                                              ; preds = %388
  %393 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 3
  call void @llvm.memcpy.p0.p0.i64(ptr align 4 %393, ptr align 4 %391, i64 4, i1 false), !tbaa.struct !11
  %394 = load ptr, ptr %45, align 8, !tbaa !5
  %395 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %394)
          to label %396 unwind label %442

396:                                              ; preds = %392
  %397 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 4
  call void @llvm.memcpy.p0.p0.i64(ptr align 8 %397, ptr align 4 %395, i64 4, i1 false), !tbaa.struct !11
  call void @llvm.lifetime.start.p0(i64 16, ptr %58) #11
  %398 = invoke { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64) %39)
          to label %399 unwind label %446

399:                                              ; preds = %396
  %400 = getelementptr inbounds %"class.JPH::Vec3", ptr %58, i32 0, i32 0
  %401 = getelementptr inbounds %union.anon, ptr %400, i32 0, i32 0
  %402 = getelementptr inbounds { double, double }, ptr %401, i32 0, i32 0
  %403 = extractvalue { double, double } %398, 0
  store double %403, ptr %402, align 16
  %404 = getelementptr inbounds { double, double }, ptr %401, i32 0, i32 1
  %405 = extractvalue { double, double } %398, 1
  store double %405, ptr %404, align 8
  %406 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 0
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %406, ptr align 16 %58, i64 16, i1 false), !tbaa.struct !20
  call void @llvm.lifetime.end.p0(i64 16, ptr %58) #11
  %407 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 6
  %408 = load ptr, ptr %50, align 8, !tbaa !5
  %409 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %408, i32 0, i32 3
  %410 = load i16, ptr %409, align 2, !tbaa !36
  %411 = zext i16 %410 to i32
  invoke void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040) %407, i32 noundef %411)
          to label %412 unwind label %442

412:                                              ; preds = %399
  %413 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 7
  %414 = load ptr, ptr %50, align 8, !tbaa !5
  %415 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %414, i32 0, i32 3
  %416 = load i16, ptr %415, align 2, !tbaa !36
  %417 = zext i16 %416 to i32
  invoke void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040) %413, i32 noundef %417)
          to label %418 unwind label %442

418:                                              ; preds = %412
  call void @llvm.lifetime.start.p0(i64 64, ptr %59) #11
  call void @llvm.lifetime.start.p0(i64 64, ptr %60) #11
  %419 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 0
  %420 = invoke { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %419)
          to label %421 unwind label %450

421:                                              ; preds = %418
  %422 = getelementptr inbounds %"class.JPH::Vec3", ptr %61, i32 0, i32 0
  %423 = getelementptr inbounds %union.anon, ptr %422, i32 0, i32 0
  %424 = getelementptr inbounds { double, double }, ptr %423, i32 0, i32 0
  %425 = extractvalue { double, double } %420, 0
  store double %425, ptr %424, align 16
  %426 = getelementptr inbounds { double, double }, ptr %423, i32 0, i32 1
  %427 = extractvalue { double, double } %420, 1
  store double %427, ptr %426, align 8
  %428 = getelementptr inbounds { double, double }, ptr %61, i32 0, i32 0
  %429 = load double, ptr %428, align 16
  %430 = getelementptr inbounds { double, double }, ptr %61, i32 0, i32 1
  %431 = load double, ptr %430, align 8
  invoke void @_ZNK3JPH5Mat4414PostTranslatedENS_4Vec3E(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %60, ptr noundef nonnull align 16 dereferenceable(64) %40, double %429, double %431)
          to label %432 unwind label %450

432:                                              ; preds = %421
  invoke void @_ZNK3JPH5Mat447ToMat44Ev(ptr dead_on_unwind writable sret(%"class.JPH::Mat44") align 16 %59, ptr noundef nonnull align 16 dereferenceable(64) %60)
          to label %433 unwind label %450

433:                                              ; preds = %432
  call void @llvm.lifetime.end.p0(i64 64, ptr %60) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %62) #11
  store float 0xC7EFFFFFE0000000, ptr %62, align 4, !tbaa !35
  call void @llvm.lifetime.start.p0(i64 4, ptr %63) #11
  store i32 0, ptr %63, align 4, !tbaa !12
  br label %434

434:                                              ; preds = %539, %433
  %435 = load i32, ptr %63, align 4, !tbaa !12
  %436 = load ptr, ptr %50, align 8, !tbaa !5
  %437 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %436, i32 0, i32 3
  %438 = load i16, ptr %437, align 2, !tbaa !36
  %439 = zext i16 %438 to i32
  %440 = icmp ult i32 %435, %439
  br i1 %440, label %454, label %441

441:                                              ; preds = %434
  store i32 6, ptr %21, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %63) #11
  br label %555

442:                                              ; preds = %412, %399, %392, %388
  %443 = landingpad { ptr, i32 }
          cleanup
  %444 = extractvalue { ptr, i32 } %443, 0
  store ptr %444, ptr %56, align 8
  %445 = extractvalue { ptr, i32 } %443, 1
  store i32 %445, ptr %57, align 4
  br label %572

446:                                              ; preds = %396
  %447 = landingpad { ptr, i32 }
          cleanup
  %448 = extractvalue { ptr, i32 } %447, 0
  store ptr %448, ptr %56, align 8
  %449 = extractvalue { ptr, i32 } %447, 1
  store i32 %449, ptr %57, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %58) #11
  br label %572

450:                                              ; preds = %432, %421, %418
  %451 = landingpad { ptr, i32 }
          cleanup
  %452 = extractvalue { ptr, i32 } %451, 0
  store ptr %452, ptr %56, align 8
  %453 = extractvalue { ptr, i32 } %451, 1
  store i32 %453, ptr %57, align 4
  call void @llvm.lifetime.end.p0(i64 64, ptr %60) #11
  br label %571

454:                                              ; preds = %434
  call void @llvm.lifetime.start.p0(i64 8, ptr %64) #11
  %455 = load ptr, ptr %50, align 8, !tbaa !5
  %456 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %455, i32 0, i32 4
  %457 = load i32, ptr %63, align 4, !tbaa !12
  %458 = zext i32 %457 to i64
  %459 = getelementptr inbounds [1 x %"class.JPH::ContactConstraintManager::CachedContactPoint"], ptr %456, i64 0, i64 %458
  store ptr %459, ptr %64, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 16, ptr %65) #11
  %460 = load ptr, ptr %64, align 8, !tbaa !5
  %461 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %460, i32 0, i32 0
  %462 = invoke { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %461)
          to label %463 unwind label %542

463:                                              ; preds = %454
  %464 = getelementptr inbounds %"class.JPH::Vec3", ptr %66, i32 0, i32 0
  %465 = getelementptr inbounds %union.anon, ptr %464, i32 0, i32 0
  %466 = getelementptr inbounds { double, double }, ptr %465, i32 0, i32 0
  %467 = extractvalue { double, double } %462, 0
  store double %467, ptr %466, align 16
  %468 = getelementptr inbounds { double, double }, ptr %465, i32 0, i32 1
  %469 = extractvalue { double, double } %462, 1
  store double %469, ptr %468, align 8
  %470 = getelementptr inbounds { double, double }, ptr %66, i32 0, i32 0
  %471 = load double, ptr %470, align 16
  %472 = getelementptr inbounds { double, double }, ptr %66, i32 0, i32 1
  %473 = load double, ptr %472, align 8
  %474 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %39, double %471, double %473)
          to label %475 unwind label %542

475:                                              ; preds = %463
  %476 = getelementptr inbounds %"class.JPH::Vec3", ptr %65, i32 0, i32 0
  %477 = getelementptr inbounds %union.anon, ptr %476, i32 0, i32 0
  %478 = getelementptr inbounds { double, double }, ptr %477, i32 0, i32 0
  %479 = extractvalue { double, double } %474, 0
  store double %479, ptr %478, align 16
  %480 = getelementptr inbounds { double, double }, ptr %477, i32 0, i32 1
  %481 = extractvalue { double, double } %474, 1
  store double %481, ptr %480, align 8
  %482 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 6
  %483 = load i32, ptr %63, align 4, !tbaa !12
  %484 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %482, i32 noundef %483)
          to label %485 unwind label %542

485:                                              ; preds = %475
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %484, ptr align 16 %65, i64 16, i1 false), !tbaa.struct !20
  call void @llvm.lifetime.end.p0(i64 16, ptr %65) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %67) #11
  %486 = load ptr, ptr %64, align 8, !tbaa !5
  %487 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %486, i32 0, i32 1
  %488 = invoke { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %487)
          to label %489 unwind label %546

489:                                              ; preds = %485
  %490 = getelementptr inbounds %"class.JPH::Vec3", ptr %68, i32 0, i32 0
  %491 = getelementptr inbounds %union.anon, ptr %490, i32 0, i32 0
  %492 = getelementptr inbounds { double, double }, ptr %491, i32 0, i32 0
  %493 = extractvalue { double, double } %488, 0
  store double %493, ptr %492, align 16
  %494 = getelementptr inbounds { double, double }, ptr %491, i32 0, i32 1
  %495 = extractvalue { double, double } %488, 1
  store double %495, ptr %494, align 8
  %496 = getelementptr inbounds { double, double }, ptr %68, i32 0, i32 0
  %497 = load double, ptr %496, align 16
  %498 = getelementptr inbounds { double, double }, ptr %68, i32 0, i32 1
  %499 = load double, ptr %498, align 8
  %500 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %59, double %497, double %499)
          to label %501 unwind label %546

501:                                              ; preds = %489
  %502 = getelementptr inbounds %"class.JPH::Vec3", ptr %67, 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 } %500, 0
  store double %505, ptr %504, align 16
  %506 = getelementptr inbounds { double, double }, ptr %503, i32 0, i32 1
  %507 = extractvalue { double, double } %500, 1
  store double %507, ptr %506, align 8
  %508 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 7
  %509 = load i32, ptr %63, align 4, !tbaa !12
  %510 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %508, i32 noundef %509)
          to label %511 unwind label %546

511:                                              ; preds = %501
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %510, ptr align 16 %67, i64 16, i1 false), !tbaa.struct !20
  call void @llvm.lifetime.end.p0(i64 16, ptr %67) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr %69) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr %70) #11
  %512 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 6
  %513 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %512, i32 noundef 0)
          to label %514 unwind label %550

514:                                              ; preds = %511
  %515 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 7
  %516 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %515, i32 noundef 0)
          to label %517 unwind label %550

517:                                              ; preds = %514
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %71, ptr align 16 %516, i64 16, i1 false), !tbaa.struct !20
  %518 = getelementptr inbounds { double, double }, ptr %71, i32 0, i32 0
  %519 = load double, ptr %518, align 16
  %520 = getelementptr inbounds { double, double }, ptr %71, i32 0, i32 1
  %521 = load double, ptr %520, align 8
  %522 = invoke { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %513, double %519, double %521)
          to label %523 unwind label %550

523:                                              ; preds = %517
  %524 = getelementptr inbounds %"class.JPH::Vec3", ptr %70, i32 0, i32 0
  %525 = getelementptr inbounds %union.anon, ptr %524, i32 0, i32 0
  %526 = getelementptr inbounds { double, double }, ptr %525, i32 0, i32 0
  %527 = extractvalue { double, double } %522, 0
  store double %527, ptr %526, align 16
  %528 = getelementptr inbounds { double, double }, ptr %525, i32 0, i32 1
  %529 = extractvalue { double, double } %522, 1
  store double %529, ptr %528, align 8
  call void @llvm.memcpy.p0.p0.i64(ptr align 16 %72, ptr align 16 %52, i64 16, i1 false), !tbaa.struct !20
  %530 = getelementptr inbounds { double, double }, ptr %72, i32 0, i32 0
  %531 = load double, ptr %530, align 16
  %532 = getelementptr inbounds { double, double }, ptr %72, i32 0, i32 1
  %533 = load double, ptr %532, align 8
  %534 = invoke noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %70, double %531, double %533)
          to label %535 unwind label %550

535:                                              ; preds = %523
  store float %534, ptr %69, align 4, !tbaa !35
  %536 = invoke noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %62, ptr noundef nonnull align 4 dereferenceable(4) %69)
          to label %537 unwind label %550

537:                                              ; preds = %535
  %538 = load float, ptr %536, align 4, !tbaa !35
  store float %538, ptr %62, align 4, !tbaa !35
  call void @llvm.lifetime.end.p0(i64 16, ptr %70) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %69) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #11
  br label %539

539:                                              ; preds = %537
  %540 = load i32, ptr %63, align 4, !tbaa !12
  %541 = add i32 %540, 1
  store i32 %541, ptr %63, align 4, !tbaa !12
  br label %434, !llvm.loop !51

542:                                              ; preds = %475, %463, %454
  %543 = landingpad { ptr, i32 }
          cleanup
  %544 = extractvalue { ptr, i32 } %543, 0
  store ptr %544, ptr %56, align 8
  %545 = extractvalue { ptr, i32 } %543, 1
  store i32 %545, ptr %57, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %65) #11
  br label %554

546:                                              ; preds = %501, %489, %485
  %547 = landingpad { ptr, i32 }
          cleanup
  %548 = extractvalue { ptr, i32 } %547, 0
  store ptr %548, ptr %56, align 8
  %549 = extractvalue { ptr, i32 } %547, 1
  store i32 %549, ptr %57, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %67) #11
  br label %554

550:                                              ; preds = %535, %523, %517, %514, %511
  %551 = landingpad { ptr, i32 }
          cleanup
  %552 = extractvalue { ptr, i32 } %551, 0
  store ptr %552, ptr %56, align 8
  %553 = extractvalue { ptr, i32 } %551, 1
  store i32 %553, ptr %57, align 4
  call void @llvm.lifetime.end.p0(i64 16, ptr %70) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %69) #11
  br label %554

554:                                              ; preds = %550, %546, %542
  call void @llvm.lifetime.end.p0(i64 8, ptr %64) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %63) #11
  br label %570

555:                                              ; preds = %441
  %556 = load float, ptr %62, align 4, !tbaa !35
  %557 = getelementptr inbounds %"class.JPH::ContactManifold", ptr %55, i32 0, i32 2
  store float %556, ptr %557, align 16, !tbaa !53
  %558 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 4
  %559 = load ptr, ptr %558, align 8, !tbaa !50
  %560 = load ptr, ptr %13, align 8, !tbaa !5
  %561 = load ptr, ptr %14, align 8, !tbaa !5
  %562 = load ptr, ptr %559, align 8, !tbaa !57
  %563 = getelementptr inbounds ptr, ptr %562, i64 4
  %564 = load ptr, ptr %563, align 8
  invoke void %564(ptr noundef nonnull align 8 dereferenceable(8) %559, ptr noundef nonnull align 16 dereferenceable(122) %560, ptr noundef nonnull align 16 dereferenceable(122) %561, ptr noundef nonnull align 16 dereferenceable(2128) %55, ptr noundef nonnull align 16 dereferenceable(64) %51)
          to label %565 unwind label %566

565:                                              ; preds = %555
  call void @llvm.lifetime.end.p0(i64 4, ptr %62) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %59) #11
  call void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %55) #11
  call void @llvm.lifetime.end.p0(i64 2128, ptr %55) #11
  br label %573

566:                                              ; preds = %555
  %567 = landingpad { ptr, i32 }
          cleanup
  %568 = extractvalue { ptr, i32 } %567, 0
  store ptr %568, ptr %56, align 8
  %569 = extractvalue { ptr, i32 } %567, 1
  store i32 %569, ptr %57, align 4
  br label %570

570:                                              ; preds = %566, %554
  call void @llvm.lifetime.end.p0(i64 4, ptr %62) #11
  br label %571

571:                                              ; preds = %570, %450
  call void @llvm.lifetime.end.p0(i64 64, ptr %59) #11
  br label %572

572:                                              ; preds = %571, %446, %442
  call void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %55) #11
  call void @llvm.lifetime.end.p0(i64 2128, ptr %55) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %51) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %40) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %39) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %34) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %25) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #11
  br label %768

573:                                              ; preds = %565, %354
  br label %574

574:                                              ; preds = %573
  %575 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 6
  %576 = load i8, ptr %575, align 8, !tbaa !49, !range !59, !noundef !60
  %577 = trunc i8 %576 to i1
  br i1 %577, label %587, label %578

578:                                              ; preds = %574
  %579 = load ptr, ptr %13, align 8, !tbaa !5
  %580 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %579)
  br i1 %580, label %584, label %581

581:                                              ; preds = %578
  %582 = load ptr, ptr %14, align 8, !tbaa !5
  %583 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %582)
  br i1 %583, label %584, label %587

584:                                              ; preds = %581, %578
  %585 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef @.str.7, ptr noundef @.str.1, i32 noundef 869, ptr noundef @.str.8)
  br i1 %585, label %586, label %587

586:                                              ; preds = %584
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #11, !srcloc !61
  br label %587

587:                                              ; preds = %586, %584, %581, %574
  br label %588

588:                                              ; preds = %587
  br label %589

589:                                              ; preds = %588
  %590 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 6
  %591 = load i8, ptr %590, align 8, !tbaa !49, !range !59, !noundef !60
  %592 = trunc i8 %591 to i1
  br i1 %592, label %743, label %593

593:                                              ; preds = %589
  %594 = load ptr, ptr %13, align 8, !tbaa !5
  %595 = call noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %594)
  br i1 %595, label %596, label %600

596:                                              ; preds = %593
  %597 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 2
  %598 = load float, ptr %597, align 8, !tbaa !62
  %599 = fcmp une float %598, 0.000000e+00
  br i1 %599, label %607, label %600

600:                                              ; preds = %596, %593
  %601 = load ptr, ptr %14, align 8, !tbaa !5
  %602 = call noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %601)
  br i1 %602, label %603, label %743

603:                                              ; preds = %600
  %604 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 4
  %605 = load float, ptr %604, align 16, !tbaa !63
  %606 = fcmp une float %605, 0.000000e+00
  br i1 %606, label %607, label %743

607:                                              ; preds = %603, %596
  call void @llvm.lifetime.start.p0(i64 4, ptr %74) #11
  %608 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 9
  %609 = call noundef i32 @_ZNSt13__atomic_baseIjEppEi(ptr noundef nonnull align 4 dereferenceable(4) %608, i32 noundef 0) #11
  store i32 %609, ptr %74, align 4, !tbaa !12
  %610 = load i32, ptr %74, align 4, !tbaa !12
  %611 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 8
  %612 = load i32, ptr %611, align 8, !tbaa !64
  %613 = icmp uge i32 %610, %612
  br i1 %613, label %614, label %618

614:                                              ; preds = %607
  %615 = load ptr, ptr %8, align 8, !tbaa !5
  %616 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactAllocator", ptr %615, i32 0, i32 3
  %617 = call noundef i32 @_ZN3JPHoRERNS_19EPhysicsUpdateErrorES0_(ptr noundef nonnull align 4 dereferenceable(4) %616, i32 noundef 4)
  store i32 2, ptr %21, align 4
  br label %740

618:                                              ; preds = %607
  %619 = load ptr, ptr %12, align 8, !tbaa !5
  store i8 1, ptr %619, align 1, !tbaa !9
  call void @llvm.lifetime.start.p0(i64 8, ptr %75) #11
  %620 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 7
  %621 = load ptr, ptr %620, align 8, !tbaa !65
  %622 = load i32, ptr %74, align 4, !tbaa !12
  %623 = zext i32 %622 to i64
  %624 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %621, i64 %623
  store ptr %624, ptr %75, align 8, !tbaa !5
  %625 = load ptr, ptr %75, align 8, !tbaa !5
  call void @llvm.memset.p0.i64(ptr align 8 %625, i8 0, i64 864, i1 false)
  call void @_ZN3JPH24ContactConstraintManager17ContactConstraintC2Ev(ptr noundef nonnull align 8 dereferenceable(864) %625) #11
  %626 = load ptr, ptr %13, align 8, !tbaa !5
  %627 = load ptr, ptr %75, align 8, !tbaa !5
  %628 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %627, i32 0, i32 0
  store ptr %626, ptr %628, align 8, !tbaa !66
  %629 = load ptr, ptr %14, align 8, !tbaa !5
  %630 = load ptr, ptr %75, align 8, !tbaa !5
  %631 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %630, i32 0, i32 1
  store ptr %629, ptr %631, align 8, !tbaa !69
  %632 = load i64, ptr %48, align 8, !tbaa !14
  %633 = load ptr, ptr %75, align 8, !tbaa !5
  %634 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %633, i32 0, i32 2
  store i64 %632, ptr %634, align 8, !tbaa !70
  %635 = load ptr, ptr %75, align 8, !tbaa !5
  %636 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %635, i32 0, i32 3
  call void @_ZNK3JPH4Vec311StoreFloat3EPNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16) %52, ptr noundef %636)
  %637 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 0
  %638 = load float, ptr %637, align 16, !tbaa !44
  %639 = load ptr, ptr %75, align 8, !tbaa !5
  %640 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %639, i32 0, i32 4
  store float %638, ptr %640, align 4, !tbaa !71
  %641 = load ptr, ptr %13, align 8, !tbaa !5
  %642 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %641)
  %643 = icmp ne ptr %642, null
  br i1 %643, label %644, label %651

644:                                              ; preds = %618
  %645 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 2
  %646 = load float, ptr %645, align 8, !tbaa !62
  %647 = load ptr, ptr %13, align 8, !tbaa !5
  %648 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %647)
  %649 = call noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %648)
  %650 = fmul float %646, %649
  br label %652

651:                                              ; preds = %618
  br label %652

652:                                              ; preds = %651, %644
  %653 = phi float [ %650, %644 ], [ 0.000000e+00, %651 ]
  %654 = load ptr, ptr %75, align 8, !tbaa !5
  %655 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %654, i32 0, i32 5
  store float %653, ptr %655, align 8, !tbaa !72
  %656 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 3
  %657 = load float, ptr %656, align 4, !tbaa !73
  %658 = load ptr, ptr %75, align 8, !tbaa !5
  %659 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %658, i32 0, i32 6
  store float %657, ptr %659, align 4, !tbaa !74
  %660 = load ptr, ptr %14, align 8, !tbaa !5
  %661 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %660)
  %662 = icmp ne ptr %661, null
  br i1 %662, label %663, label %670

663:                                              ; preds = %652
  %664 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 4
  %665 = load float, ptr %664, align 16, !tbaa !63
  %666 = load ptr, ptr %14, align 8, !tbaa !5
  %667 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %666)
  %668 = call noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %667)
  %669 = fmul float %665, %668
  br label %671

670:                                              ; preds = %652
  br label %671

671:                                              ; preds = %670, %663
  %672 = phi float [ %669, %663 ], [ 0.000000e+00, %670 ]
  %673 = load ptr, ptr %75, align 8, !tbaa !5
  %674 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %673, i32 0, i32 7
  store float %672, ptr %674, align 8, !tbaa !75
  %675 = getelementptr inbounds %"class.JPH::ContactSettings", ptr %51, i32 0, i32 5
  %676 = load float, ptr %675, align 4, !tbaa !76
  %677 = load ptr, ptr %75, align 8, !tbaa !5
  %678 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %677, i32 0, i32 8
  store float %676, ptr %678, align 4, !tbaa !77
  %679 = load ptr, ptr %75, align 8, !tbaa !5
  %680 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %679, i32 0, i32 9
  %681 = load ptr, ptr %50, align 8, !tbaa !5
  %682 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %681, i32 0, i32 3
  %683 = load i16, ptr %682, align 2, !tbaa !36
  %684 = zext i16 %683 to i32
  call void @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE6resizeEj(ptr noundef nonnull align 8 dereferenceable(808) %680, i32 noundef %684)
  call void @llvm.lifetime.start.p0(i64 4, ptr %76) #11
  store i32 0, ptr %76, align 4, !tbaa !12
  br label %685

685:                                              ; preds = %723, %671
  %686 = load i32, ptr %76, align 4, !tbaa !12
  %687 = load ptr, ptr %50, align 8, !tbaa !5
  %688 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %687, i32 0, i32 3
  %689 = load i16, ptr %688, align 2, !tbaa !36
  %690 = zext i16 %689 to i32
  %691 = icmp ult i32 %686, %690
  br i1 %691, label %693, label %692

692:                                              ; preds = %685
  store i32 11, ptr %21, align 4
  call void @llvm.lifetime.end.p0(i64 4, ptr %76) #11
  br label %726

693:                                              ; preds = %685
  call void @llvm.lifetime.start.p0(i64 8, ptr %77) #11
  %694 = load ptr, ptr %50, align 8, !tbaa !5
  %695 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %694, i32 0, i32 4
  %696 = load i32, ptr %76, align 4, !tbaa !12
  %697 = zext i32 %696 to i64
  %698 = getelementptr inbounds [1 x %"class.JPH::ContactConstraintManager::CachedContactPoint"], ptr %695, i64 0, i64 %697
  store ptr %698, ptr %77, align 8, !tbaa !5
  call void @llvm.lifetime.start.p0(i64 8, ptr %78) #11
  %699 = load ptr, ptr %75, align 8, !tbaa !5
  %700 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %699, i32 0, i32 9
  %701 = load i32, ptr %76, align 4, !tbaa !12
  %702 = call noundef nonnull align 8 dereferenceable(200) ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEixEj(ptr noundef nonnull align 8 dereferenceable(808) %700, i32 noundef %701)
  store ptr %702, ptr %78, align 8, !tbaa !5
  %703 = load ptr, ptr %78, align 8, !tbaa !5
  %704 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %703, i32 0, i32 0
  %705 = load ptr, ptr %77, align 8, !tbaa !5
  %706 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %705, i32 0, i32 2
  %707 = load float, ptr %706, align 4, !tbaa !78
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %704, float noundef %707)
  %708 = load ptr, ptr %78, align 8, !tbaa !5
  %709 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %708, i32 0, i32 1
  %710 = load ptr, ptr %77, align 8, !tbaa !5
  %711 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %710, i32 0, i32 3
  %712 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8) %711, i32 noundef 0)
  %713 = load float, ptr %712, align 4, !tbaa !35
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %709, float noundef %713)
  %714 = load ptr, ptr %78, align 8, !tbaa !5
  %715 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %714, i32 0, i32 2
  %716 = load ptr, ptr %77, align 8, !tbaa !5
  %717 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedContactPoint", ptr %716, i32 0, i32 3
  %718 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8) %717, i32 noundef 1)
  %719 = load float, ptr %718, align 4, !tbaa !35
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %715, float noundef %719)
  %720 = load ptr, ptr %77, align 8, !tbaa !5
  %721 = load ptr, ptr %78, align 8, !tbaa !5
  %722 = getelementptr inbounds %"class.JPH::ContactConstraintManager::WorldContactPoint", ptr %721, i32 0, i32 3
  store ptr %720, ptr %722, align 8, !tbaa !81
  call void @llvm.lifetime.end.p0(i64 8, ptr %78) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %77) #11
  br label %723

723:                                              ; preds = %693
  %724 = load i32, ptr %76, align 4, !tbaa !12
  %725 = add i32 %724, 1
  store i32 %725, ptr %76, align 4, !tbaa !12
  br label %685, !llvm.loop !85

726:                                              ; preds = %692
  %727 = load ptr, ptr %75, align 8, !tbaa !5
  %728 = load float, ptr %41, align 4, !tbaa !35
  %729 = load ptr, ptr %13, align 8, !tbaa !5
  %730 = load ptr, ptr %14, align 8, !tbaa !5
  call void @_ZN3JPH24ContactConstraintManager54CalculateFrictionAndNonPenetrationConstraintPropertiesERNS0_17ContactConstraintERKNS_15ContactSettingsEfRKNS_5Mat44ES8_RKNS_4BodyESB_(ptr noundef nonnull align 8 dereferenceable(248) %79, ptr noundef nonnull align 8 dereferenceable(864) %727, ptr noundef nonnull align 16 dereferenceable(64) %51, float noundef %728, ptr noundef nonnull align 16 dereferenceable(64) %39, ptr noundef nonnull align 16 dereferenceable(64) %40, ptr noundef nonnull align 16 dereferenceable(122) %729, ptr noundef nonnull align 16 dereferenceable(122) %730)
  %731 = getelementptr inbounds %"class.JPH::ContactConstraintManager", ptr %79, i32 0, i32 10
  %732 = load ptr, ptr %731, align 8, !tbaa !30
  %733 = getelementptr inbounds %"class.JPH::PhysicsUpdateContext", ptr %732, i32 0, i32 10
  %734 = load ptr, ptr %733, align 8, !tbaa !86
  %735 = load i32, ptr %74, align 4, !tbaa !12
  %736 = load ptr, ptr %13, align 8, !tbaa !5
  %737 = call noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122) %736)
  %738 = load ptr, ptr %14, align 8, !tbaa !5
  %739 = call noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122) %738)
  call void @_ZN3JPH13IslandBuilder11LinkContactEjjj(ptr noundef nonnull align 8 dereferenceable(112) %734, i32 noundef %735, i32 noundef %737, i32 noundef %739)
  call void @llvm.lifetime.end.p0(i64 8, ptr %75) #11
  store i32 0, ptr %21, align 4
  br label %740

740:                                              ; preds = %726, %614
  call void @llvm.lifetime.end.p0(i64 4, ptr %74) #11
  %741 = load i32, ptr %21, align 4
  switch i32 %741, label %750 [
    i32 0, label %742
  ]

742:                                              ; preds = %740
  br label %743

743:                                              ; preds = %742, %603, %600, %589
  %744 = load ptr, ptr %46, align 8, !tbaa !5
  %745 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %744, i32 0, i32 2
  %746 = call noundef zeroext i16 @_ZNSt13__atomic_baseItEoREt(ptr noundef nonnull align 2 dereferenceable(2) %745, i16 noundef zeroext 1) #11
  %747 = load ptr, ptr %46, align 8, !tbaa !5
  %748 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedManifold", ptr %747, i32 0, i32 0
  %749 = load i32, ptr %748, align 4, !tbaa !42
  store i32 %749, ptr %43, align 4, !tbaa !12
  store i32 0, ptr %21, align 4
  br label %750

750:                                              ; preds = %743, %740
  call void @llvm.lifetime.end.p0(i64 16, ptr %52) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %51) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %50) #11
  br label %751

751:                                              ; preds = %750, %311
  call void @llvm.lifetime.end.p0(i64 8, ptr %49) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %48) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %46) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %45) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %44) #11
  %752 = load i32, ptr %21, align 4
  switch i32 %752, label %773 [
    i32 0, label %753
    i32 2, label %757
  ]

753:                                              ; preds = %751
  br label %754

754:                                              ; preds = %753
  %755 = load i32, ptr %43, align 4, !tbaa !12
  %756 = icmp ne i32 %755, -1
  br i1 %756, label %278, label %757, !llvm.loop !87

757:                                              ; preds = %754, %751
  %758 = load i32, ptr %42, align 4, !tbaa !12
  %759 = load ptr, ptr %38, align 8, !tbaa !5
  %760 = getelementptr inbounds %"class.JPH::ContactConstraintManager::CachedBodyPair", ptr %759, i32 0, i32 2
  store i32 %758, ptr %760, align 4, !tbaa !27
  call void @llvm.lifetime.end.p0(i64 4, ptr %43) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %42) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr %41) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %40) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr %39) #11
  store i32 0, ptr %21, align 4
  br label %761

761:                                              ; preds = %757, %267
  call void @llvm.lifetime.end.p0(i64 8, ptr %38) #11
  br label %762

762:                                              ; preds = %761, %257
  call void @llvm.lifetime.end.p0(i64 8, ptr %37) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %36) #11
  br label %763

763:                                              ; preds = %762, %243
  call void @llvm.lifetime.end.p0(i64 16, ptr %34) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %32) #11
  br label %764

764:                                              ; preds = %763, %199
  call void @llvm.lifetime.end.p0(i64 16, ptr %29) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %25) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr %23) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %22) #11
  br label %765

765:                                              ; preds = %764, %114
  call void @llvm.lifetime.end.p0(i64 8, ptr %20) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %19) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %18) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %15) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %14) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr %13) #11
  %766 = load i32, ptr %21, align 4
  switch i32 %766, label %773 [
    i32 0, label %767
    i32 1, label %767
  ]

767:                                              ; preds = %765, %765
  ret void

768:                                              ; preds = %572
  %769 = load ptr, ptr %56, align 8
  %770 = load i32, ptr %57, align 4
  %771 = insertvalue { ptr, i32 } poison, ptr %769, 0
  %772 = insertvalue { ptr, i32 } %771, i32 %770, 1
  resume { ptr, i32 } %772

773:                                              ; preds = %765, %751
  unreachable
}

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH6BodyIDltERKS0_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8BodyPairC2ENS_6BodyIDES1_(ptr noundef nonnull align 8 dereferenceable(8), i32, i32) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122)) #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16)) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16), double, double) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12)) #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16)) #8 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Quat17sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12)) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) #6

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH4Quat3DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH15ContactSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(64)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16)) #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16)) #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122)) #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16)) #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH15ContactManifoldC2Ev(ptr noundef nonnull align 16 dereferenceable(2128)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64)) #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040), i32 noundef) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4414PostTranslatedENS_4Vec3E(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), double, double) #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16)) #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZNK3JPH5Mat447ToMat44Ev(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64)) #8 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040), i32 noundef) #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64), double, double) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) #6

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef, ptr noundef) #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122)) #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNSt13__atomic_baseIjEppEi(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) #1 align 2

; Function Attrs: nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #9

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH24ContactConstraintManager17ContactConstraintC2Ev(ptr noundef nonnull align 8 dereferenceable(864)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH4Vec311StoreFloat3EPNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef) #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182)) #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE6resizeEj(ptr noundef nonnull align 8 dereferenceable(808), i32 noundef) #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(200) ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEixEj(ptr noundef nonnull align 8 dereferenceable(808), i32 noundef) #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64), float noundef) #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8), i32 noundef) #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH24ContactConstraintManager54CalculateFrictionAndNonPenetrationConstraintPropertiesERNS0_17ContactConstraintERKNS_15ContactSettingsEfRKNS_5Mat44ES8_RKNS_4BodyESB_(ptr noundef nonnull align 8 dereferenceable(248), ptr noundef nonnull align 8 dereferenceable(864), ptr noundef nonnull align 16 dereferenceable(64), float noundef, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122)) #2 align 2

declare void @_ZN3JPH13IslandBuilder11LinkContactEjjj(ptr noundef nonnull align 8 dereferenceable(112), i32 noundef, i32 noundef, i32 noundef) #10

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122)) #1 align 2

attributes #0 = { nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 = { nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="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 = { nocallback nofree nounwind willreturn memory(argmem: write) }
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 = !{!"bool", !7, i64 0}
!11 = !{i64 0, i64 4, !12}
!12 = !{!13, !13, i64 0}
!13 = !{!"int", !7, i64 0}
!14 = !{!15, !15, i64 0}
!15 = !{!"long", !7, i64 0}
!16 = !{!17, !13, i64 184}
!17 = !{!"_ZTSN3JPH24ContactConstraintManagerE", !7, i64 8, !13, i64 184, !6, i64 192, !6, i64 200, !6, i64 208, !6, i64 216, !6, i64 224, !13, i64 232, !18, i64 236, !6, i64 240}
!18 = !{!"_ZTSSt6atomicIjE", !19, i64 0}
!19 = !{!"_ZTSSt13__atomic_baseIjE", !13, i64 0}
!20 = !{i64 0, i64 16, !21}
!21 = !{!7, !7, i64 0}
!22 = !{!17, !6, i64 192}
!23 = !{!24, !25, i64 40}
!24 = !{!"_ZTSN3JPH15PhysicsSettingsE", !13, i64 0, !13, i64 4, !13, i64 8, !25, i64 12, !25, i64 16, !25, i64 20, !25, i64 24, !25, i64 28, !25, i64 32, !25, i64 36, !25, i64 40, !25, i64 44, !25, i64 48, !25, i64 52, !13, i64 56, !13, i64 60, !25, i64 64, !25, i64 68, !25, i64 72, !10, i64 76, !10, i64 77, !10, i64 78, !10, i64 79, !10, i64 80, !10, i64 81, !10, i64 82}
!25 = !{!"float", !7, i64 0}
!26 = !{!24, !25, i64 44}
!27 = !{!28, !13, i64 24}
!28 = !{!"_ZTSN3JPH24ContactConstraintManager14CachedBodyPairE", !29, i64 0, !29, i64 12, !13, i64 24}
!29 = !{!"_ZTSN3JPH6Float3E", !25, i64 0, !25, i64 4, !25, i64 8}
!30 = !{!17, !6, i64 240}
!31 = !{!32, !25, i64 32}
!32 = !{!"_ZTSN3JPH20PhysicsUpdateContextE", !6, i64 0, !6, i64 8, !6, i64 16, !6, i64 24, !25, i64 32, !25, i64 36, !18, i64 40, !6, i64 48, !6, i64 56, !6, i64 64, !33, i64 72, !13, i64 104, !6, i64 112, !18, i64 120}
!33 = !{!"_ZTSN3JPH5ArrayINS_20PhysicsUpdateContext4StepENS_16STLTempAllocatorIS2_EEEE", !34, i64 0, !15, i64 8, !15, i64 16, !6, i64 24}
!34 = !{!"_ZTSN3JPH16STLTempAllocatorINS_20PhysicsUpdateContext4StepEEE", !6, i64 0}
!35 = !{!25, !25, i64 0}
!36 = !{!37, !40, i64 18}
!37 = !{!"_ZTSN3JPH24ContactConstraintManager14CachedManifoldE", !13, i64 0, !29, i64 4, !38, i64 16, !40, i64 18, !7, i64 20}
!38 = !{!"_ZTSSt6atomicItE", !39, i64 0}
!39 = !{!"_ZTSSt13__atomic_baseItE", !40, i64 0}
!40 = !{!"short", !7, i64 0}
!41 = !{i64 2158734922}
!42 = !{!37, !13, i64 0}
!43 = !{!17, !6, i64 208}
!44 = !{!45, !25, i64 0}
!45 = !{!"_ZTSN3JPH15ContactSettingsE", !25, i64 0, !25, i64 4, !25, i64 8, !25, i64 12, !25, i64 16, !25, i64 20, !10, i64 24, !46, i64 32, !46, i64 48}
!46 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!47 = !{!17, !6, i64 216}
!48 = !{!45, !25, i64 4}
!49 = !{!45, !10, i64 24}
!50 = !{!17, !6, i64 200}
!51 = distinct !{!51, !52}
!52 = !{!"llvm.loop.mustprogress"}
!53 = !{!54, !25, i64 32}
!54 = !{!"_ZTSN3JPH15ContactManifoldE", !46, i64 0, !46, i64 16, !25, i64 32, !55, i64 36, !55, i64 40, !56, i64 48, !56, i64 1088}
!55 = !{!"_ZTSN3JPH10SubShapeIDE", !13, i64 0}
!56 = !{!"_ZTSN3JPH11StaticArrayINS_4Vec3ELj64EEE", !13, i64 0, !7, i64 16}
!57 = !{!58, !58, i64 0}
!58 = !{!"vtable pointer", !8, i64 0}
!59 = !{i8 0, i8 2}
!60 = !{}
!61 = !{i64 2158735470}
!62 = !{!45, !25, i64 8}
!63 = !{!45, !25, i64 16}
!64 = !{!17, !13, i64 232}
!65 = !{!17, !6, i64 224}
!66 = !{!67, !6, i64 0}
!67 = !{!"_ZTSN3JPH24ContactConstraintManager17ContactConstraintE", !6, i64 0, !6, i64 8, !15, i64 16, !29, i64 24, !25, i64 36, !25, i64 40, !25, i64 44, !25, i64 48, !25, i64 52, !68, i64 56}
!68 = !{!"_ZTSN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEE", !13, i64 0, !7, i64 8}
!69 = !{!67, !6, i64 8}
!70 = !{!67, !15, i64 16}
!71 = !{!67, !25, i64 36}
!72 = !{!67, !25, i64 40}
!73 = !{!45, !25, i64 12}
!74 = !{!67, !25, i64 44}
!75 = !{!67, !25, i64 48}
!76 = !{!45, !25, i64 20}
!77 = !{!67, !25, i64 52}
!78 = !{!79, !25, i64 24}
!79 = !{!"_ZTSN3JPH24ContactConstraintManager18CachedContactPointE", !29, i64 0, !29, i64 12, !25, i64 24, !80, i64 28}
!80 = !{!"_ZTSN3JPH6VectorILj2EEE", !7, i64 0}
!81 = !{!82, !6, i64 192}
!82 = !{!"_ZTSN3JPH24ContactConstraintManager17WorldContactPointE", !83, i64 0, !83, i64 64, !83, i64 128, !6, i64 192}
!83 = !{!"_ZTSN3JPH18AxisConstraintPartE", !29, i64 0, !29, i64 12, !29, i64 24, !29, i64 36, !25, i64 48, !84, i64 52, !25, i64 60}
!84 = !{!"_ZTSN3JPH10SpringPartE", !25, i64 0, !25, i64 4}
!85 = distinct !{!85, !52}
!86 = !{!32, !6, i64 64}
!87 = distinct !{!87, !52}


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

%"struct.JPH::BodyPair" = type { %"class.JPH::BodyID", %"class.JPH::BodyID" }
%"class.JPH::BodyID" = type { i32 }
%"class.JPH::Quat" = type { %"class.JPH::Vec4" }
%"class.JPH::Vec4" = type { %union.anon.1 }
%union.anon.1 = type { <4 x float> }
%"class.JPH::Vec3" = type { %union.anon }
%union.anon = type { <4 x float> }
%"class.JPH::Mat44" = type { [4 x %"class.JPH::Vec4"] }
%"class.JPH::ContactSettings" = type { float, float, float, float, float, float, i8, %"class.JPH::Vec3", %"class.JPH::Vec3" }
%"class.JPH::ContactManifold" = type { %"class.JPH::Vec3", %"class.JPH::Vec3", float, %"class.JPH::SubShapeID", %"class.JPH::SubShapeID", [4 x i8], %"class.JPH::StaticArray.19", %"class.JPH::StaticArray.19" }
%"class.JPH::SubShapeID" = type { i32 }
%"class.JPH::StaticArray.19" = type { i32, [12 x i8], [64 x %"struct.JPH::StaticArray<JPH::Vec3, 64>::Storage"] }
%"struct.JPH::StaticArray<JPH::Vec3, 64>::Storage" = type { [16 x i8] }
%"class.JPH::ContactConstraintManager::ManifoldCache" = type <{ %"class.JPH::LFHMAllocator", %"class.JPH::LockFreeHashMap", %"class.JPH::LockFreeHashMap.0", i8, [7 x i8] }>
%"class.JPH::LFHMAllocator" = type { ptr, i32, %"struct.std::atomic" }
%"struct.std::atomic" = type { %"struct.std::__atomic_base" }
%"struct.std::__atomic_base" = type { i32 }
%"class.JPH::LockFreeHashMap" = type { ptr, %"struct.std::atomic", ptr, i32, i32 }
%"class.JPH::LockFreeHashMap.0" = type { ptr, %"struct.std::atomic", ptr, i32, i32 }
%"class.JPH::ContactConstraintManager::CachedContactPoint" = type { %"class.JPH::Float3", %"class.JPH::Float3", float, %"class.JPH::Vector" }
%"class.JPH::Float3" = type { float, float, float }
%"class.JPH::Vector" = type { [2 x float] }
%"class.JPH::ContactConstraintManager::ContactConstraint" = type { ptr, ptr, i64, %"class.JPH::Float3", float, float, float, float, float, %"class.JPH::StaticArray" }
%"class.JPH::StaticArray" = type { i32, [4 x i8], [4 x %"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage"] }
%"struct.JPH::StaticArray<JPH::ContactConstraintManager::WorldContactPoint, 4>::Storage" = type { [200 x i8] }

@.str.1 = external hidden unnamed_addr constant [113 x i8], align 1
@.str.6 = external hidden unnamed_addr constant [31 x i8], align 1
@.str.7 = external hidden unnamed_addr constant [64 x i8], align 1
@.str.8 = external hidden unnamed_addr constant [71 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: mustprogress nounwind uwtable
declare dso_local noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #1 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: 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) #3

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #4 align 2

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

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_14SubShapeIDPairEmi(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 4 dereferenceable(16), i64 noundef, i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef i32 @_ZN3JPHoRERNS_19EPhysicsUpdateErrorES0_(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) local_unnamed_addr #2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(56) ptr @_ZN3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZNK3JPH24ContactConstraintManager13ManifoldCache8ToHandleEPKNS_15LockFreeHashMapINS_14SubShapeIDPairENS0_14CachedManifoldEE8KeyValueE(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache10FromHandleEj(ptr noundef nonnull align 8 dereferenceable(81), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache4FindERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81), ptr noundef nonnull align 8 dereferenceable(32), ptr noundef nonnull align 8 dereferenceable(8), i64 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(56) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(16) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue6GetKeyEv(ptr noundef nonnull align 4 dereferenceable(76)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(28) ptr @_ZNK3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK3JPH8BodyPair7GetHashEv(ptr noundef nonnull align 8 dereferenceable(8)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(28) ptr @_ZN3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i64 @_ZNK3JPH14SubShapeIDPair7GetHashEv(ptr noundef nonnull align 4 dereferenceable(16)) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef i32 @_ZN3JPH24ContactConstraintManager14CachedManifold21sGetRequiredTotalSizeEi(i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef zeroext i16 @_ZNSt13__atomic_baseItEoREt(ptr noundef nonnull align 2 dereferenceable(2), i16 noundef zeroext) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress uwtable
define dso_local void @_ZN3JPH24ContactConstraintManager20GetContactsFromCacheERNS0_16ContactAllocatorERNS_4BodyES4_RbS5_(ptr noundef nonnull align 8 dereferenceable(248) %0, ptr noundef nonnull align 8 dereferenceable(32) %1, ptr noundef nonnull align 16 dereferenceable(122) %2, ptr noundef nonnull align 16 dereferenceable(122) %3, ptr nocapture noundef nonnull writeonly align 1 dereferenceable(1) %4, ptr nocapture noundef nonnull writeonly align 1 dereferenceable(1) %5) local_unnamed_addr #5 align 2 personality ptr @__gxx_personality_v0 {
  %7 = alloca %"struct.JPH::BodyPair", align 8
  %8 = alloca %"class.JPH::Quat", align 16
  %9 = alloca %"class.JPH::Quat", 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::Quat", align 16
  %14 = alloca %"class.JPH::Mat44", align 16
  %15 = alloca %"class.JPH::Mat44", align 16
  %16 = alloca %"class.JPH::ContactSettings", align 16
  %17 = alloca %"class.JPH::Vec3", align 16
  %18 = alloca %"class.JPH::Vec3", align 16
  %19 = alloca %"class.JPH::ContactManifold", align 16
  %20 = alloca %"class.JPH::Mat44", align 16
  %21 = alloca %"class.JPH::Mat44", align 16
  %22 = alloca float, align 4
  %23 = alloca float, align 4
  %24 = alloca %"class.JPH::Vec3", align 16
  store i8 0, ptr %5, align 1, !tbaa !5
  store i8 0, ptr %4, align 1, !tbaa !5
  %25 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %2)
  %26 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %3)
  %27 = tail call noundef zeroext i1 @_ZNK3JPH6BodyIDltERKS0_(ptr noundef nonnull align 4 dereferenceable(4) %25, ptr noundef nonnull align 4 dereferenceable(4) %26)
  %. = select i1 %27, ptr %3, ptr %2
  %.201 = select i1 %27, ptr %2, ptr %3
  call void @llvm.lifetime.start.p0(i64 8, ptr nonnull %7) #11
  %28 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %.201)
  %.sroa.0127.0.copyload = load i32, ptr %28, align 4, !tbaa !9
  %29 = tail call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH4Body5GetIDEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %.sroa.0126.0.copyload = load i32, ptr %29, align 4, !tbaa !9
  call void @_ZN3JPH8BodyPairC2ENS_6BodyIDES1_(ptr noundef nonnull align 8 dereferenceable(8) %7, i32 %.sroa.0127.0.copyload, i32 %.sroa.0126.0.copyload)
  %30 = call noundef i64 @_ZNK3JPH8BodyPair7GetHashEv(ptr noundef nonnull align 8 dereferenceable(8) %7)
  %31 = getelementptr inbounds i8, ptr %0, i64 8
  %32 = getelementptr inbounds i8, ptr %0, i64 184
  %33 = load i32, ptr %32, align 8, !tbaa !11
  %34 = xor i32 %33, 1
  %35 = sext i32 %34 to i64
  %36 = getelementptr inbounds [2 x %"class.JPH::ContactConstraintManager::ManifoldCache"], ptr %31, i64 0, i64 %35
  %37 = call noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache4FindERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81) %36, ptr noundef nonnull align 8 dereferenceable(8) %7, i64 noundef %30)
  %38 = icmp eq ptr %37, null
  br i1 %38, label %355, label %39

39:                                               ; preds = %6
  %40 = call noundef nonnull align 4 dereferenceable(28) ptr @_ZNK3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40) %37)
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %8) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %9) #11
  %41 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %.201)
  %42 = extractvalue { double, double } %41, 0
  store double %42, ptr %9, align 16
  %43 = getelementptr inbounds i8, ptr %9, i64 8
  %44 = extractvalue { double, double } %41, 1
  store double %44, ptr %43, align 8
  %45 = call { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16) %9)
  %46 = extractvalue { double, double } %45, 0
  store double %46, ptr %8, align 16
  %47 = getelementptr inbounds i8, ptr %8, i64 8
  %48 = extractvalue { double, double } %45, 1
  store double %48, ptr %47, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %9) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %10) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %11) #11
  %49 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %50 = extractvalue { double, double } %49, 0
  store double %50, ptr %11, align 16
  %51 = getelementptr inbounds i8, ptr %11, i64 8
  %52 = extractvalue { double, double } %49, 1
  store double %52, ptr %51, align 8
  %53 = call { double, double } @_ZNK3JPH4Body23GetCenterOfMassPositionEv(ptr noundef nonnull align 16 dereferenceable(122) %.201)
  %54 = extractvalue { double, double } %53, 0
  %55 = extractvalue { double, double } %53, 1
  %56 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %11, double %54, double %55)
  %57 = extractvalue { double, double } %56, 0
  %58 = extractvalue { double, double } %56, 1
  %59 = call { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16) %8, double %57, double %58)
  %60 = extractvalue { double, double } %59, 0
  store double %60, ptr %10, align 16
  %61 = getelementptr inbounds i8, ptr %10, i64 8
  %62 = extractvalue { double, double } %59, 1
  store double %62, ptr %61, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %11) #11
  %63 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %40)
  %64 = extractvalue { double, double } %63, 0
  %65 = extractvalue { double, double } %63, 1
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %12) #11
  %66 = call { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %10, double %64, double %65)
  %67 = extractvalue { double, double } %66, 0
  store double %67, ptr %12, align 16
  %68 = getelementptr inbounds i8, ptr %12, i64 8
  %69 = extractvalue { double, double } %66, 1
  store double %69, ptr %68, align 8
  %70 = call noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16) %12)
  %71 = getelementptr inbounds i8, ptr %0, i64 192
  %72 = load ptr, ptr %71, align 8, !tbaa !16
  %73 = getelementptr inbounds i8, ptr %72, i64 40
  %74 = load float, ptr %73, align 4, !tbaa !17
  %75 = fcmp ogt float %70, %74
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %12) #11
  br i1 %75, label %354, label %76

76:                                               ; preds = %39
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %13) #11
  %77 = call { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %78 = extractvalue { double, double } %77, 0
  %79 = extractvalue { double, double } %77, 1
  %80 = call { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16) %8, double %78, double %79)
  %81 = extractvalue { double, double } %80, 0
  store double %81, ptr %13, align 16
  %82 = getelementptr inbounds i8, ptr %13, i64 8
  %83 = extractvalue { double, double } %80, 1
  store double %83, ptr %82, align 8
  %84 = getelementptr inbounds i8, ptr %40, i64 12
  %85 = call { double, double } @_ZN3JPH4Quat17sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %84)
  %86 = extractvalue { double, double } %85, 0
  %87 = extractvalue { double, double } %85, 1
  %88 = call noundef float @_ZNK3JPH4Quat3DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %13, double %86, double %87)
  %89 = call noundef float @_ZSt3absf(float noundef %88)
  %90 = load ptr, ptr %71, align 8, !tbaa !16
  %91 = getelementptr inbounds i8, ptr %90, i64 44
  %92 = load float, ptr %91, align 4, !tbaa !20
  %93 = fcmp olt float %89, %92
  br i1 %93, label %353, label %94

94:                                               ; preds = %76
  store i8 1, ptr %4, align 1, !tbaa !5
  %95 = load i32, ptr %32, align 8, !tbaa !11
  %96 = sext i32 %95 to i64
  %97 = getelementptr inbounds [2 x %"class.JPH::ContactConstraintManager::ManifoldCache"], ptr %31, i64 0, i64 %96
  %98 = call noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_8BodyPairEm(ptr noundef nonnull align 8 dereferenceable(81) %97, ptr noundef nonnull align 8 dereferenceable(32) %1, ptr noundef nonnull align 8 dereferenceable(8) %7, i64 noundef %30)
  %99 = icmp eq ptr %98, null
  br i1 %99, label %353, label %100

100:                                              ; preds = %94
  %101 = call noundef nonnull align 4 dereferenceable(28) ptr @_ZN3JPH15LockFreeHashMapINS_8BodyPairENS_24ContactConstraintManager14CachedBodyPairEE8KeyValue8GetValueEv(ptr noundef nonnull align 8 dereferenceable(40) %98)
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 4 dereferenceable(28) %101, ptr noundef nonnull align 4 dereferenceable(28) %40, i64 28, i1 false)
  %102 = getelementptr inbounds i8, ptr %40, i64 24
  %103 = load i32, ptr %102, align 4, !tbaa !21
  %104 = icmp eq i32 %103, -1
  br i1 %104, label %353, label %105

105:                                              ; preds = %100
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %14) #11
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %14, ptr noundef nonnull align 16 dereferenceable(122) %.201)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %15) #11
  call void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %15, ptr noundef nonnull align 16 dereferenceable(122) %.)
  %106 = getelementptr inbounds i8, ptr %0, i64 240
  %107 = load ptr, ptr %106, align 8, !tbaa !24
  %108 = getelementptr inbounds i8, ptr %107, i64 32
  %109 = load float, ptr %108, align 8, !tbaa !25
  %110 = load i32, ptr %102, align 4, !tbaa !21
  %111 = getelementptr inbounds i8, ptr %0, i64 208
  %112 = getelementptr inbounds i8, ptr %0, i64 216
  %113 = getelementptr inbounds i8, ptr %16, i64 4
  %114 = getelementptr inbounds i8, ptr %16, i64 24
  %115 = getelementptr inbounds i8, ptr %18, i64 8
  %116 = getelementptr inbounds i8, ptr %17, i64 8
  %117 = getelementptr inbounds i8, ptr %0, i64 200
  %118 = getelementptr inbounds i8, ptr %19, i64 16
  %119 = getelementptr inbounds i8, ptr %19, i64 36
  %120 = getelementptr inbounds i8, ptr %19, i64 40
  %.sroa.551.0..sroa_idx = getelementptr inbounds i8, ptr %19, i64 8
  %121 = getelementptr inbounds i8, ptr %19, i64 48
  %122 = getelementptr inbounds i8, ptr %19, i64 1088
  %123 = getelementptr inbounds i8, ptr %24, i64 8
  %124 = getelementptr inbounds i8, ptr %19, i64 32
  %125 = getelementptr inbounds i8, ptr %16, i64 8
  %126 = getelementptr inbounds i8, ptr %16, i64 16
  %127 = getelementptr inbounds i8, ptr %0, i64 236
  %128 = getelementptr inbounds i8, ptr %0, i64 232
  %129 = getelementptr inbounds i8, ptr %0, i64 224
  %130 = getelementptr inbounds i8, ptr %16, i64 12
  %131 = getelementptr inbounds i8, ptr %16, i64 20
  br label %132

132:                                              ; preds = %348, %105
  %.0177 = phi i32 [ %110, %105 ], [ %351, %348 ]
  %.0175 = phi i32 [ -1, %105 ], [ %153, %348 ]
  %133 = call noundef ptr @_ZNK3JPH24ContactConstraintManager13ManifoldCache10FromHandleEj(ptr noundef nonnull align 8 dereferenceable(81) %36, i32 noundef %.0177)
  %134 = call noundef nonnull align 4 dereferenceable(16) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue6GetKeyEv(ptr noundef nonnull align 4 dereferenceable(76) %133)
  %135 = call noundef nonnull align 4 dereferenceable(56) ptr @_ZNK3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76) %133)
  %136 = getelementptr inbounds i8, ptr %135, i64 18
  %137 = load i16, ptr %136, align 2, !tbaa !30
  %.not = icmp eq i16 %137, 0
  br i1 %.not, label %138, label %141

138:                                              ; preds = %132
  %139 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jNS_15AssertLastParamE(ptr noundef nonnull @.str.6, ptr noundef nonnull @.str.1, i32 noundef 820)
  br i1 %139, label %140, label %141

140:                                              ; preds = %138
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #11, !srcloc !35
  br label %141

141:                                              ; preds = %140, %138, %132
  %142 = call noundef i64 @_ZNK3JPH14SubShapeIDPair7GetHashEv(ptr noundef nonnull align 4 dereferenceable(16) %134)
  %143 = load i16, ptr %136, align 2, !tbaa !30
  %144 = zext i16 %143 to i32
  %145 = call noundef ptr @_ZN3JPH24ContactConstraintManager13ManifoldCache6CreateERNS0_16ContactAllocatorERKNS_14SubShapeIDPairEmi(ptr noundef nonnull align 8 dereferenceable(81) %97, ptr noundef nonnull align 8 dereferenceable(32) %1, ptr noundef nonnull align 4 dereferenceable(16) %134, i64 noundef %142, i32 noundef %144)
  %146 = icmp eq ptr %145, null
  br i1 %146, label %.thread204, label %147

147:                                              ; preds = %141
  %148 = call noundef nonnull align 4 dereferenceable(56) ptr @_ZN3JPH15LockFreeHashMapINS_14SubShapeIDPairENS_24ContactConstraintManager14CachedManifoldEE8KeyValue8GetValueEv(ptr noundef nonnull align 4 dereferenceable(76) %145)
  %149 = load i16, ptr %136, align 2, !tbaa !30
  %150 = zext i16 %149 to i32
  %151 = call noundef i32 @_ZN3JPH24ContactConstraintManager14CachedManifold21sGetRequiredTotalSizeEi(i32 noundef %150)
  %152 = sext i32 %151 to i64
  call void @llvm.memcpy.p0.p0.i64(ptr nonnull align 4 %148, ptr nonnull align 4 %135, i64 %152, i1 false)
  store i32 %.0175, ptr %148, align 4, !tbaa !36
  %153 = call noundef i32 @_ZNK3JPH24ContactConstraintManager13ManifoldCache8ToHandleEPKNS_15LockFreeHashMapINS_14SubShapeIDPairENS0_14CachedManifoldEE8KeyValueE(ptr noundef nonnull align 8 dereferenceable(81) %97, ptr noundef nonnull %145)
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %16) #11
  call void @_ZN3JPH15ContactSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(64) %16)
  %154 = load ptr, ptr %111, align 8, !tbaa !37
  %155 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %134)
  %156 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %134)
  %157 = call noundef float %154(ptr noundef nonnull align 16 dereferenceable(122) %.201, ptr noundef nonnull align 4 dereferenceable(4) %155, ptr noundef nonnull align 16 dereferenceable(122) %., ptr noundef nonnull align 4 dereferenceable(4) %156)
  store float %157, ptr %16, align 16, !tbaa !38
  %158 = load ptr, ptr %112, align 8, !tbaa !41
  %159 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %134)
  %160 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %134)
  %161 = call noundef float %158(ptr noundef nonnull align 16 dereferenceable(122) %.201, ptr noundef nonnull align 4 dereferenceable(4) %159, ptr noundef nonnull align 16 dereferenceable(122) %., ptr noundef nonnull align 4 dereferenceable(4) %160)
  store float %161, ptr %113, align 4, !tbaa !42
  %162 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %.201)
  br i1 %162, label %165, label %163

163:                                              ; preds = %147
  %164 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  br label %165

165:                                              ; preds = %163, %147
  %166 = phi i1 [ true, %147 ], [ %164, %163 ]
  %167 = zext i1 %166 to i8
  store i8 %167, ptr %114, align 8, !tbaa !43
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %17) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %18) #11
  %168 = getelementptr inbounds i8, ptr %148, i64 4
  %169 = call { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %168)
  %170 = extractvalue { double, double } %169, 0
  %171 = extractvalue { double, double } %169, 1
  %172 = call { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %15, double %170, double %171)
  %173 = extractvalue { double, double } %172, 0
  store double %173, ptr %18, align 16
  %174 = extractvalue { double, double } %172, 1
  store double %174, ptr %115, align 8
  %175 = call { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16) %18)
  %176 = extractvalue { double, double } %175, 0
  store double %176, ptr %17, align 16
  %177 = extractvalue { double, double } %175, 1
  store double %177, ptr %116, align 8
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %18) #11
  %178 = load ptr, ptr %117, align 8, !tbaa !44
  %.not192 = icmp eq ptr %178, null
  br i1 %.not192, label %263, label %179

179:                                              ; preds = %165
  call void @llvm.lifetime.start.p0(i64 2128, ptr nonnull %19) #11
  call void @_ZN3JPH15ContactManifoldC2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %19) #11
  call void @llvm.memcpy.p0.p0.i64(ptr noundef nonnull align 16 dereferenceable(16) %118, ptr noundef nonnull align 16 dereferenceable(16) %17, i64 16, i1 false), !tbaa.struct !45
  %180 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16) %134)
  %181 = load i32, ptr %180, align 4, !tbaa !9
  store i32 %181, ptr %119, align 4, !tbaa !9
  %182 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16) %134)
  %183 = load i32, ptr %182, align 4, !tbaa !9
  store i32 %183, ptr %120, align 8, !tbaa !9
  %184 = invoke { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64) %14)
          to label %185 unwind label %209

185:                                              ; preds = %179
  %186 = extractvalue { double, double } %184, 0
  %187 = extractvalue { double, double } %184, 1
  store double %186, ptr %19, align 16
  store double %187, ptr %.sroa.551.0..sroa_idx, align 8, !tbaa !46
  %188 = getelementptr inbounds i8, ptr %148, i64 18
  %189 = load i16, ptr %188, align 2, !tbaa !30
  %190 = zext i16 %189 to i32
  invoke void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040) %121, i32 noundef %190)
          to label %191 unwind label %207

191:                                              ; preds = %185
  %192 = load i16, ptr %188, align 2, !tbaa !30
  %193 = zext i16 %192 to i32
  invoke void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040) %122, i32 noundef %193)
          to label %194 unwind label %207

194:                                              ; preds = %191
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %20) #11
  call void @llvm.lifetime.start.p0(i64 64, ptr nonnull %21) #11
  %195 = invoke { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16) %19)
          to label %196 unwind label %211

196:                                              ; preds = %194
  %197 = extractvalue { double, double } %195, 0
  %198 = extractvalue { double, double } %195, 1
  invoke void @_ZNK3JPH5Mat4414PostTranslatedENS_4Vec3E(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %21, ptr noundef nonnull align 16 dereferenceable(64) %15, double %197, double %198)
          to label %199 unwind label %211

199:                                              ; preds = %196
  call void @_ZNK3JPH5Mat447ToMat44Ev(ptr dead_on_unwind nonnull writable sret(%"class.JPH::Mat44") align 16 %20, ptr noundef nonnull align 16 dereferenceable(64) %21)
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %21) #11
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %22) #11
  store float 0xC7EFFFFFE0000000, ptr %22, align 4, !tbaa !47
  %200 = load i16, ptr %188, align 2, !tbaa !30
  %.not230 = icmp eq i16 %200, 0
  br i1 %.not230, label %._crit_edge, label %.lr.ph

.lr.ph:                                           ; preds = %199
  %201 = getelementptr inbounds i8, ptr %148, i64 20
  br label %213

._crit_edge:                                      ; preds = %242, %199
  %202 = phi float [ 0xC7EFFFFFE0000000, %199 ], [ %247, %242 ]
  store float %202, ptr %124, align 16, !tbaa !48
  %203 = load ptr, ptr %117, align 8, !tbaa !44
  %204 = load ptr, ptr %203, align 8, !tbaa !52
  %205 = getelementptr inbounds i8, ptr %204, i64 32
  %206 = load ptr, ptr %205, align 8
  invoke void %206(ptr noundef nonnull align 8 dereferenceable(8) %203, ptr noundef nonnull align 16 dereferenceable(122) %.201, ptr noundef nonnull align 16 dereferenceable(122) %., ptr noundef nonnull align 16 dereferenceable(2128) %19, ptr noundef nonnull align 16 dereferenceable(64) %16)
          to label %257 unwind label %258

207:                                              ; preds = %191, %185
  %208 = landingpad { ptr, i32 }
          cleanup
  br label %262

209:                                              ; preds = %179
  %210 = landingpad { ptr, i32 }
          cleanup
  br label %262

211:                                              ; preds = %196, %194
  %212 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %21) #11
  br label %261

213:                                              ; preds = %.lr.ph, %242
  %indvars.iv = phi i64 [ 0, %.lr.ph ], [ %indvars.iv.next, %242 ]
  %214 = getelementptr inbounds [1 x %"class.JPH::ContactConstraintManager::CachedContactPoint"], ptr %201, i64 0, i64 %indvars.iv
  %215 = invoke { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %214)
          to label %216 unwind label %251

216:                                              ; preds = %213
  %217 = extractvalue { double, double } %215, 0
  %218 = extractvalue { double, double } %215, 1
  %219 = invoke { double, double } @_ZNK3JPH5Mat4411Multiply3x3ENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %14, double %217, double %218)
          to label %220 unwind label %251

220:                                              ; preds = %216
  %221 = trunc nuw nsw i64 %indvars.iv to i32
  %222 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %121, i32 noundef %221)
          to label %223 unwind label %251

223:                                              ; preds = %220
  %224 = extractvalue { double, double } %219, 1
  %225 = extractvalue { double, double } %219, 0
  store double %225, ptr %222, align 16
  %.sroa.540.0..sroa_idx = getelementptr inbounds i8, ptr %222, i64 8
  store double %224, ptr %.sroa.540.0..sroa_idx, align 8, !tbaa !46
  %226 = getelementptr inbounds i8, ptr %214, i64 12
  %227 = invoke { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12) %226)
          to label %228 unwind label %253

228:                                              ; preds = %223
  %229 = extractvalue { double, double } %227, 0
  %230 = extractvalue { double, double } %227, 1
  %231 = invoke { double, double } @_ZNK3JPH5Mat44mlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(64) %20, double %229, double %230)
          to label %232 unwind label %253

232:                                              ; preds = %228
  %233 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %122, i32 noundef %221)
          to label %234 unwind label %253

234:                                              ; preds = %232
  %235 = extractvalue { double, double } %231, 1
  %236 = extractvalue { double, double } %231, 0
  store double %236, ptr %233, align 16
  %.sroa.5.0..sroa_idx = getelementptr inbounds i8, ptr %233, i64 8
  store double %235, ptr %.sroa.5.0..sroa_idx, align 8, !tbaa !46
  call void @llvm.lifetime.start.p0(i64 4, ptr nonnull %23) #11
  call void @llvm.lifetime.start.p0(i64 16, ptr nonnull %24) #11
  %237 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %121, i32 noundef 0)
          to label %238 unwind label %255

238:                                              ; preds = %234
  %239 = invoke noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040) %122, i32 noundef 0)
          to label %240 unwind label %255

240:                                              ; preds = %238
  %.sroa.032.0.copyload = load double, ptr %239, align 16
  %.sroa.233.0..sroa_idx = getelementptr inbounds i8, ptr %239, i64 8
  %.sroa.233.0.copyload = load double, ptr %.sroa.233.0..sroa_idx, align 8, !tbaa !46
  %241 = invoke { double, double } @_ZNK3JPH4Vec3miES0_(ptr noundef nonnull align 16 dereferenceable(16) %237, double %.sroa.032.0.copyload, double %.sroa.233.0.copyload)
          to label %242 unwind label %255

242:                                              ; preds = %240
  %243 = extractvalue { double, double } %241, 0
  store double %243, ptr %24, align 16
  %244 = extractvalue { double, double } %241, 1
  store double %244, ptr %123, align 8
  %.sroa.0.0.copyload = load double, ptr %17, align 16
  %.sroa.2.0.copyload = load double, ptr %116, align 8, !tbaa !46
  %245 = call noundef float @_ZNK3JPH4Vec33DotES0_(ptr noundef nonnull align 16 dereferenceable(16) %24, double %.sroa.0.0.copyload, double %.sroa.2.0.copyload)
  store float %245, ptr %23, align 4, !tbaa !47
  %246 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4) %22, ptr noundef nonnull align 4 dereferenceable(4) %23)
  %247 = load float, ptr %246, align 4, !tbaa !47
  store float %247, ptr %22, align 4, !tbaa !47
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %23) #11
  %indvars.iv.next = add nuw nsw i64 %indvars.iv, 1
  %248 = load i16, ptr %188, align 2, !tbaa !30
  %249 = zext i16 %248 to i64
  %250 = icmp ult i64 %indvars.iv.next, %249
  br i1 %250, label %213, label %._crit_edge, !llvm.loop !54

251:                                              ; preds = %220, %216, %213
  %252 = landingpad { ptr, i32 }
          cleanup
  br label %260

253:                                              ; preds = %232, %228, %223
  %254 = landingpad { ptr, i32 }
          cleanup
  br label %260

255:                                              ; preds = %240, %238, %234
  %256 = landingpad { ptr, i32 }
          cleanup
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %24) #11
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %23) #11
  br label %260

257:                                              ; preds = %._crit_edge
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %22) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %20) #11
  call void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %19) #11
  call void @llvm.lifetime.end.p0(i64 2128, ptr nonnull %19) #11
  br label %263

258:                                              ; preds = %._crit_edge
  %259 = landingpad { ptr, i32 }
          cleanup
  br label %260

260:                                              ; preds = %251, %253, %255, %258
  %.pn.pn = phi { ptr, i32 } [ %259, %258 ], [ %256, %255 ], [ %254, %253 ], [ %252, %251 ]
  call void @llvm.lifetime.end.p0(i64 4, ptr nonnull %22) #11
  br label %261

261:                                              ; preds = %260, %211
  %.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn, %260 ], [ %212, %211 ]
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %20) #11
  br label %262

262:                                              ; preds = %261, %209, %207
  %.pn.pn.pn.pn = phi { ptr, i32 } [ %.pn.pn.pn, %261 ], [ %208, %207 ], [ %210, %209 ]
  call void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128) %19) #11
  call void @llvm.lifetime.end.p0(i64 2128, ptr nonnull %19) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %16) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %15) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %14) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #11
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #11
  resume { ptr, i32 } %.pn.pn.pn.pn

263:                                              ; preds = %165, %257
  %264 = load i8, ptr %114, align 8, !tbaa !43, !range !56, !noundef !57
  %265 = trunc nuw i8 %264 to i1
  br i1 %265, label %273, label %266

266:                                              ; preds = %263
  %267 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %.201)
  br i1 %267, label %270, label %268

268:                                              ; preds = %266
  %269 = call noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  br i1 %269, label %270, label %273

270:                                              ; preds = %268, %266
  %271 = call noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef nonnull @.str.7, ptr noundef nonnull @.str.1, i32 noundef 869, ptr noundef nonnull @.str.8)
  br i1 %271, label %272, label %273

272:                                              ; preds = %270
  call void asm sideeffect "int $$0x3", "~{dirflag},~{fpsr},~{flags}"() #11, !srcloc !58
  br label %273

273:                                              ; preds = %272, %270, %268, %263
  %274 = load i8, ptr %114, align 8, !tbaa !43, !range !56, !noundef !57
  %275 = trunc nuw i8 %274 to i1
  br i1 %275, label %348, label %276

276:                                              ; preds = %273
  %277 = call noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %.201)
  %278 = load float, ptr %125, align 8
  %279 = fcmp une float %278, 0.000000e+00
  %or.cond = select i1 %277, i1 %279, i1 false
  br i1 %or.cond, label %284, label %280

280:                                              ; preds = %276
  %281 = call noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %282 = load float, ptr %126, align 16
  %283 = fcmp une float %282, 0.000000e+00
  %or.cond5 = select i1 %281, i1 %283, i1 false
  br i1 %or.cond5, label %284, label %348

284:                                              ; preds = %280, %276
  %285 = call noundef i32 @_ZNSt13__atomic_baseIjEppEi(ptr noundef nonnull align 4 dereferenceable(4) %127, i32 noundef 0) #11
  %286 = load i32, ptr %128, align 8, !tbaa !59
  %.not193 = icmp ult i32 %285, %286
  br i1 %.not193, label %289, label %.thread212

.thread212:                                       ; preds = %284
  %287 = getelementptr inbounds i8, ptr %1, i64 28
  %288 = call noundef i32 @_ZN3JPHoRERNS_19EPhysicsUpdateErrorES0_(ptr noundef nonnull align 4 dereferenceable(4) %287, i32 noundef 4)
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %16) #11
  br label %.thread204

289:                                              ; preds = %284
  store i8 1, ptr %5, align 1, !tbaa !5
  %290 = load ptr, ptr %129, align 8, !tbaa !60
  %291 = zext i32 %285 to i64
  %292 = getelementptr inbounds %"class.JPH::ContactConstraintManager::ContactConstraint", ptr %290, i64 %291
  call void @llvm.memset.p0.i64(ptr noundef nonnull align 8 dereferenceable(864) %292, i8 0, i64 864, i1 false)
  call void @_ZN3JPH24ContactConstraintManager17ContactConstraintC2Ev(ptr noundef nonnull align 8 dereferenceable(864) %292) #11
  store ptr %.201, ptr %292, align 8, !tbaa !61
  %293 = getelementptr inbounds i8, ptr %292, i64 8
  store ptr %., ptr %293, align 8, !tbaa !64
  %294 = getelementptr inbounds i8, ptr %292, i64 16
  store i64 %142, ptr %294, align 8, !tbaa !65
  %295 = getelementptr inbounds i8, ptr %292, i64 24
  call void @_ZNK3JPH4Vec311StoreFloat3EPNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16) %17, ptr noundef nonnull %295)
  %296 = load float, ptr %16, align 16, !tbaa !38
  %297 = getelementptr inbounds i8, ptr %292, i64 36
  store float %296, ptr %297, align 4, !tbaa !66
  %298 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %.201)
  %.not194 = icmp eq ptr %298, null
  br i1 %.not194, label %304, label %299

299:                                              ; preds = %289
  %300 = load float, ptr %125, align 8, !tbaa !67
  %301 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %.201)
  %302 = call noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %301)
  %303 = fmul float %300, %302
  br label %304

304:                                              ; preds = %289, %299
  %305 = phi float [ %303, %299 ], [ 0.000000e+00, %289 ]
  %306 = getelementptr inbounds i8, ptr %292, i64 40
  store float %305, ptr %306, align 8, !tbaa !68
  %307 = load float, ptr %130, align 4, !tbaa !69
  %308 = getelementptr inbounds i8, ptr %292, i64 44
  store float %307, ptr %308, align 4, !tbaa !70
  %309 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %.not195 = icmp eq ptr %309, null
  br i1 %.not195, label %315, label %310

310:                                              ; preds = %304
  %311 = load float, ptr %126, align 16, !tbaa !71
  %312 = call noundef ptr @_ZN3JPH4Body28GetMotionPropertiesUncheckedEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  %313 = call noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182) %312)
  %314 = fmul float %311, %313
  br label %315

315:                                              ; preds = %304, %310
  %316 = phi float [ %314, %310 ], [ 0.000000e+00, %304 ]
  %317 = getelementptr inbounds i8, ptr %292, i64 48
  store float %316, ptr %317, align 8, !tbaa !72
  %318 = load float, ptr %131, align 4, !tbaa !73
  %319 = getelementptr inbounds i8, ptr %292, i64 52
  store float %318, ptr %319, align 4, !tbaa !74
  %320 = getelementptr inbounds i8, ptr %292, i64 56
  %321 = getelementptr inbounds i8, ptr %148, i64 18
  %322 = load i16, ptr %321, align 2, !tbaa !30
  %323 = zext i16 %322 to i32
  call void @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE6resizeEj(ptr noundef nonnull align 8 dereferenceable(808) %320, i32 noundef %323)
  %324 = load i16, ptr %321, align 2, !tbaa !30
  %.not231 = icmp eq i16 %324, 0
  br i1 %.not231, label %._crit_edge229, label %.lr.ph228

.lr.ph228:                                        ; preds = %315
  %325 = getelementptr inbounds i8, ptr %148, i64 20
  br label %326

326:                                              ; preds = %.lr.ph228, %326
  %indvars.iv240 = phi i64 [ 0, %.lr.ph228 ], [ %indvars.iv.next241, %326 ]
  %327 = getelementptr inbounds [1 x %"class.JPH::ContactConstraintManager::CachedContactPoint"], ptr %325, i64 0, i64 %indvars.iv240
  %328 = trunc nuw nsw i64 %indvars.iv240 to i32
  %329 = call noundef nonnull align 8 dereferenceable(200) ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEixEj(ptr noundef nonnull align 8 dereferenceable(808) %320, i32 noundef %328)
  %330 = getelementptr inbounds i8, ptr %327, i64 24
  %331 = load float, ptr %330, align 4, !tbaa !75
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %329, float noundef %331)
  %332 = getelementptr inbounds i8, ptr %329, i64 64
  %333 = getelementptr inbounds i8, ptr %327, i64 28
  %334 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8) %333, i32 noundef 0)
  %335 = load float, ptr %334, align 4, !tbaa !47
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %332, float noundef %335)
  %336 = getelementptr inbounds i8, ptr %329, i64 128
  %337 = call noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8) %333, i32 noundef 1)
  %338 = load float, ptr %337, align 4, !tbaa !47
  call void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64) %336, float noundef %338)
  %339 = getelementptr inbounds i8, ptr %329, i64 192
  store ptr %327, ptr %339, align 8, !tbaa !78
  %indvars.iv.next241 = add nuw nsw i64 %indvars.iv240, 1
  %340 = load i16, ptr %321, align 2, !tbaa !30
  %341 = zext i16 %340 to i64
  %342 = icmp ult i64 %indvars.iv.next241, %341
  br i1 %342, label %326, label %._crit_edge229, !llvm.loop !82

._crit_edge229:                                   ; preds = %326, %315
  call void @_ZN3JPH24ContactConstraintManager54CalculateFrictionAndNonPenetrationConstraintPropertiesERNS0_17ContactConstraintERKNS_15ContactSettingsEfRKNS_5Mat44ES8_RKNS_4BodyESB_(ptr noundef nonnull align 8 dereferenceable(248) %0, ptr noundef nonnull align 8 dereferenceable(864) %292, ptr noundef nonnull align 16 dereferenceable(64) %16, float noundef %109, ptr noundef nonnull align 16 dereferenceable(64) %14, ptr noundef nonnull align 16 dereferenceable(64) %15, ptr noundef nonnull align 16 dereferenceable(122) %.201, ptr noundef nonnull align 16 dereferenceable(122) %.)
  %343 = load ptr, ptr %106, align 8, !tbaa !24
  %344 = getelementptr inbounds i8, ptr %343, i64 64
  %345 = load ptr, ptr %344, align 8, !tbaa !83
  %346 = call noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122) %.201)
  %347 = call noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122) %.)
  call void @_ZN3JPH13IslandBuilder11LinkContactEjjj(ptr noundef nonnull align 8 dereferenceable(112) %345, i32 noundef %285, i32 noundef %346, i32 noundef %347)
  br label %348

348:                                              ; preds = %._crit_edge229, %280, %273
  %349 = getelementptr inbounds i8, ptr %135, i64 16
  %350 = call noundef zeroext i16 @_ZNSt13__atomic_baseItEoREt(ptr noundef nonnull align 2 dereferenceable(2) %349, i16 noundef zeroext 1) #11
  %351 = load i32, ptr %135, align 4, !tbaa !36
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %17) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %16) #11
  %.not200 = icmp eq i32 %351, -1
  br i1 %.not200, label %.thread204, label %132, !llvm.loop !84

.thread204:                                       ; preds = %141, %348, %.thread212
  %.1176211 = phi i32 [ %153, %.thread212 ], [ %.0175, %141 ], [ %153, %348 ]
  %352 = getelementptr inbounds i8, ptr %101, i64 24
  store i32 %.1176211, ptr %352, align 4, !tbaa !21
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %15) #11
  call void @llvm.lifetime.end.p0(i64 64, ptr nonnull %14) #11
  br label %353

353:                                              ; preds = %94, %100, %.thread204, %76
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %13) #11
  br label %354

354:                                              ; preds = %39, %353
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %10) #11
  call void @llvm.lifetime.end.p0(i64 16, ptr nonnull %8) #11
  br label %355

355:                                              ; preds = %6, %354
  call void @llvm.lifetime.end.p0(i64 8, ptr nonnull %7) #11
  ret void
}

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

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH6BodyIDltERKS0_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH8BodyPairC2ENS_6BodyIDES1_(ptr noundef nonnull align 8 dereferenceable(8), i32, i32) unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Body11GetRotationEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #2 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Quat10ConjugatedEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlENS_4Vec3E(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Vec317sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH4Vec38LengthSqEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #8 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4QuatmlES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZN3JPH4Quat17sLoadFloat3UnsafeERKNS_6Float3E(ptr noundef nonnull align 4 dereferenceable(12)) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZSt3absf(float noundef) local_unnamed_addr #6

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local noundef float @_ZNK3JPH4Quat3DotES0_(ptr noundef nonnull align 16 dereferenceable(16), double, double) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZNK3JPH4Body24GetCenterOfMassTransformEv(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH15ContactSettingsC2Ev(ptr noundef nonnull align 16 dereferenceable(64)) unnamed_addr #2 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID1Ev(ptr noundef nonnull align 4 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZNK3JPH14SubShapeIDPair14GetSubShapeID2Ev(ptr noundef nonnull align 4 dereferenceable(16)) local_unnamed_addr #1 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body8IsSensorEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #6 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 #4 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec310NormalizedEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #7 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH15ContactManifoldC2Ev(ptr noundef nonnull align 16 dereferenceable(2128)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH5Mat4414GetTranslationEv(ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #7 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH11StaticArrayINS_4Vec3ELj64EE6resizeEj(ptr noundef nonnull align 16 dereferenceable(1040), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH5Mat4414PostTranslatedENS_4Vec3E(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64), double, double) local_unnamed_addr #7 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local { double, double } @_ZNK3JPH4Vec3ngEv(ptr noundef nonnull align 16 dereferenceable(16)) local_unnamed_addr #4 align 2

; Function Attrs: alwaysinline mustprogress nounwind uwtable
declare dso_local void @_ZNK3JPH5Mat447ToMat44Ev(ptr dead_on_unwind noalias writable sret(%"class.JPH::Mat44") align 16, ptr noundef nonnull align 16 dereferenceable(64)) local_unnamed_addr #8 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 16 dereferenceable(16) ptr @_ZN3JPH11StaticArrayINS_4Vec3ELj64EEixEj(ptr noundef nonnull align 16 dereferenceable(1040), i32 noundef) local_unnamed_addr #5 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 #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZSt3maxIfERKT_S2_S2_(ptr noundef nonnull align 4 dereferenceable(4), ptr noundef nonnull align 4 dereferenceable(4)) local_unnamed_addr #6

; 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: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH15ContactManifoldD2Ev(ptr noundef nonnull align 16 dereferenceable(2128)) unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef zeroext i1 @_ZN3JPH23AssertFailedParamHelperEPKcS1_jS1_NS_15AssertLastParamE(ptr noundef, ptr noundef, i32 noundef, ptr noundef) local_unnamed_addr #2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef zeroext i1 @_ZNK3JPH4Body9IsDynamicEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNSt13__atomic_baseIjEppEi(ptr noundef nonnull align 4 dereferenceable(4), i32 noundef) local_unnamed_addr #1 align 2

; Function Attrs: mustprogress nocallback nofree nounwind willreturn memory(argmem: write)
declare void @llvm.memset.p0.i64(ptr nocapture writeonly, i8, i64, i1 immarg) #9

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH24ContactConstraintManager17ContactConstraintC2Ev(ptr noundef nonnull align 8 dereferenceable(864)) unnamed_addr #6 align 2

; Function Attrs: alwaysinline mustprogress uwtable
declare dso_local void @_ZNK3JPH4Vec311StoreFloat3EPNS_6Float3E(ptr noundef nonnull align 16 dereferenceable(16), ptr noundef) local_unnamed_addr #4 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local noundef float @_ZNK3JPH16MotionProperties23GetInverseMassUncheckedEv(ptr noundef nonnull align 16 dereferenceable(182)) local_unnamed_addr #6 align 2

; Function Attrs: mustprogress uwtable
declare dso_local void @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EE6resizeEj(ptr noundef nonnull align 8 dereferenceable(808), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: mustprogress uwtable
declare dso_local noundef nonnull align 8 dereferenceable(200) ptr @_ZN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEixEj(ptr noundef nonnull align 8 dereferenceable(808), i32 noundef) local_unnamed_addr #5 align 2

; Function Attrs: inlinehint mustprogress nounwind uwtable
declare dso_local void @_ZN3JPH18AxisConstraintPart14SetTotalLambdaEf(ptr noundef nonnull align 4 dereferenceable(64), float noundef) local_unnamed_addr #6 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local noundef nonnull align 4 dereferenceable(4) ptr @_ZN3JPH6VectorILj2EEixEj(ptr noundef nonnull align 4 dereferenceable(8), i32 noundef) local_unnamed_addr #2 align 2

; Function Attrs: inlinehint mustprogress uwtable
declare dso_local void @_ZN3JPH24ContactConstraintManager54CalculateFrictionAndNonPenetrationConstraintPropertiesERNS0_17ContactConstraintERKNS_15ContactSettingsEfRKNS_5Mat44ES8_RKNS_4BodyESB_(ptr noundef nonnull align 8 dereferenceable(248), ptr noundef nonnull align 8 dereferenceable(864), ptr noundef nonnull align 16 dereferenceable(64), float noundef, ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(64), ptr noundef nonnull align 16 dereferenceable(122), ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #2 align 2

declare void @_ZN3JPH13IslandBuilder11LinkContactEjjj(ptr noundef nonnull align 8 dereferenceable(112), i32 noundef, i32 noundef, i32 noundef) local_unnamed_addr #10

; Function Attrs: mustprogress nounwind uwtable
declare dso_local noundef i32 @_ZNK3JPH4Body30GetIndexInActiveBodiesInternalEv(ptr noundef nonnull align 16 dereferenceable(122)) local_unnamed_addr #1 align 2

attributes #0 = { mustprogress nocallback nofree nosync nounwind willreturn memory(argmem: readwrite) }
attributes #1 = { 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 nocallback nofree nounwind willreturn memory(argmem: readwrite) }
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 uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #6 = { inlinehint mustprogress nounwind uwtable "min-legal-vector-width"="0" "no-trapping-math"="true" "stack-protector-buffer-size"="8" "target-cpu"="x86-64" "target-features"="+cmov,+cx8,+fxsr,+mmx,+sse,+sse2,+x87" "tune-cpu"="generic" }
attributes #7 = { alwaysinline mustprogress uwtable "min-legal-vector-width"="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 = { mustprogress nocallback nofree nounwind willreturn memory(argmem: write) }
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 = !{!"bool", !7, i64 0}
!7 = !{!"omnipotent char", !8, i64 0}
!8 = !{!"Simple C++ TBAA"}
!9 = !{!10, !10, i64 0}
!10 = !{!"int", !7, i64 0}
!11 = !{!12, !10, i64 184}
!12 = !{!"_ZTSN3JPH24ContactConstraintManagerE", !7, i64 8, !10, i64 184, !13, i64 192, !13, i64 200, !13, i64 208, !13, i64 216, !13, i64 224, !10, i64 232, !14, i64 236, !13, i64 240}
!13 = !{!"any pointer", !7, i64 0}
!14 = !{!"_ZTSSt6atomicIjE", !15, i64 0}
!15 = !{!"_ZTSSt13__atomic_baseIjE", !10, i64 0}
!16 = !{!12, !13, i64 192}
!17 = !{!18, !19, i64 40}
!18 = !{!"_ZTSN3JPH15PhysicsSettingsE", !10, i64 0, !10, i64 4, !10, i64 8, !19, i64 12, !19, i64 16, !19, i64 20, !19, i64 24, !19, i64 28, !19, i64 32, !19, i64 36, !19, i64 40, !19, i64 44, !19, i64 48, !19, i64 52, !10, i64 56, !10, i64 60, !19, i64 64, !19, i64 68, !19, i64 72, !6, i64 76, !6, i64 77, !6, i64 78, !6, i64 79, !6, i64 80, !6, i64 81, !6, i64 82}
!19 = !{!"float", !7, i64 0}
!20 = !{!18, !19, i64 44}
!21 = !{!22, !10, i64 24}
!22 = !{!"_ZTSN3JPH24ContactConstraintManager14CachedBodyPairE", !23, i64 0, !23, i64 12, !10, i64 24}
!23 = !{!"_ZTSN3JPH6Float3E", !19, i64 0, !19, i64 4, !19, i64 8}
!24 = !{!12, !13, i64 240}
!25 = !{!26, !19, i64 32}
!26 = !{!"_ZTSN3JPH20PhysicsUpdateContextE", !13, i64 0, !13, i64 8, !13, i64 16, !13, i64 24, !19, i64 32, !19, i64 36, !14, i64 40, !13, i64 48, !13, i64 56, !13, i64 64, !27, i64 72, !10, i64 104, !13, i64 112, !14, i64 120}
!27 = !{!"_ZTSN3JPH5ArrayINS_20PhysicsUpdateContext4StepENS_16STLTempAllocatorIS2_EEEE", !28, i64 0, !29, i64 8, !29, i64 16, !13, i64 24}
!28 = !{!"_ZTSN3JPH16STLTempAllocatorINS_20PhysicsUpdateContext4StepEEE", !13, i64 0}
!29 = !{!"long", !7, i64 0}
!30 = !{!31, !34, i64 18}
!31 = !{!"_ZTSN3JPH24ContactConstraintManager14CachedManifoldE", !10, i64 0, !23, i64 4, !32, i64 16, !34, i64 18, !7, i64 20}
!32 = !{!"_ZTSSt6atomicItE", !33, i64 0}
!33 = !{!"_ZTSSt13__atomic_baseItE", !34, i64 0}
!34 = !{!"short", !7, i64 0}
!35 = !{i64 2158734922}
!36 = !{!31, !10, i64 0}
!37 = !{!12, !13, i64 208}
!38 = !{!39, !19, i64 0}
!39 = !{!"_ZTSN3JPH15ContactSettingsE", !19, i64 0, !19, i64 4, !19, i64 8, !19, i64 12, !19, i64 16, !19, i64 20, !6, i64 24, !40, i64 32, !40, i64 48}
!40 = !{!"_ZTSN3JPH4Vec3E", !7, i64 0}
!41 = !{!12, !13, i64 216}
!42 = !{!39, !19, i64 4}
!43 = !{!39, !6, i64 24}
!44 = !{!12, !13, i64 200}
!45 = !{i64 0, i64 16, !46}
!46 = !{!7, !7, i64 0}
!47 = !{!19, !19, i64 0}
!48 = !{!49, !19, i64 32}
!49 = !{!"_ZTSN3JPH15ContactManifoldE", !40, i64 0, !40, i64 16, !19, i64 32, !50, i64 36, !50, i64 40, !51, i64 48, !51, i64 1088}
!50 = !{!"_ZTSN3JPH10SubShapeIDE", !10, i64 0}
!51 = !{!"_ZTSN3JPH11StaticArrayINS_4Vec3ELj64EEE", !10, i64 0, !7, i64 16}
!52 = !{!53, !53, i64 0}
!53 = !{!"vtable pointer", !8, i64 0}
!54 = distinct !{!54, !55}
!55 = !{!"llvm.loop.mustprogress"}
!56 = !{i8 0, i8 2}
!57 = !{}
!58 = !{i64 2158735470}
!59 = !{!12, !10, i64 232}
!60 = !{!12, !13, i64 224}
!61 = !{!62, !13, i64 0}
!62 = !{!"_ZTSN3JPH24ContactConstraintManager17ContactConstraintE", !13, i64 0, !13, i64 8, !29, i64 16, !23, i64 24, !19, i64 36, !19, i64 40, !19, i64 44, !19, i64 48, !19, i64 52, !63, i64 56}
!63 = !{!"_ZTSN3JPH11StaticArrayINS_24ContactConstraintManager17WorldContactPointELj4EEE", !10, i64 0, !7, i64 8}
!64 = !{!62, !13, i64 8}
!65 = !{!62, !29, i64 16}
!66 = !{!62, !19, i64 36}
!67 = !{!39, !19, i64 8}
!68 = !{!62, !19, i64 40}
!69 = !{!39, !19, i64 12}
!70 = !{!62, !19, i64 44}
!71 = !{!39, !19, i64 16}
!72 = !{!62, !19, i64 48}
!73 = !{!39, !19, i64 20}
!74 = !{!62, !19, i64 52}
!75 = !{!76, !19, i64 24}
!76 = !{!"_ZTSN3JPH24ContactConstraintManager18CachedContactPointE", !23, i64 0, !23, i64 12, !19, i64 24, !77, i64 28}
!77 = !{!"_ZTSN3JPH6VectorILj2EEE", !7, i64 0}
!78 = !{!79, !13, i64 192}
!79 = !{!"_ZTSN3JPH24ContactConstraintManager17WorldContactPointE", !80, i64 0, !80, i64 64, !80, i64 128, !13, i64 192}
!80 = !{!"_ZTSN3JPH18AxisConstraintPartE", !23, i64 0, !23, i64 12, !23, i64 24, !23, i64 36, !19, i64 48, !81, i64 52, !19, i64 60}
!81 = !{!"_ZTSN3JPH10SpringPartE", !19, i64 0, !19, i64 4}
!82 = distinct !{!82, !55}
!83 = !{!26, !13, i64 64}
!84 = distinct !{!84, !55}


; Effective O3 passes: ConstraintEliminationPass,CorrelatedValuePropagationPass,EarlyCSEPass,GVNPass,GlobalOptPass,IPSCCPPass,IndVarSimplifyPass,InferFunctionAttrsPass,InstCombinePass,InstSimplifyPass,JumpThreadingPass,LCSSAPass,LICMPass,LoopRotatePass,LoopSimplifyCFGPass,LoopSimplifyPass,LoopUnrollPass,PostOrderFunctionAttrsPass,SCCPPass,SROAPass,SimplifyCFGPass,TailCallElimPass