void Contact(CC, q) double CC[6];
double q[7];
{
  double t1;
  double t12;
  double t13;
  double t15;
  double t17;
  double t19;
  double t2;
  double t20;
  double t3;
  double t4;
  double t5;
  double t6;
  double t8;
  double t9;
  {
    CC[0] = 0.0;
    t1 = q[0];
    t2 = cos(t1);
    t3 = q[1];
    t4 = cos(t3);
    t5 = q[2];
    t6 = cos(t5);
    t8 = q[3];
    t9 = sin(t8);
    t12 = sin(t3);
    t13 = cos(t8);
    t15 = -0.45 - 0.48 * t13;
    t17 = 0.48 * t4 * t6 * t9 - t12 * t15;
    t19 = sin(t1);
    t20 = sin(t5);
    CC[1] = t2 * t17 - 0.48 * t19 * t20 * t9;
    CC[2] = 0.0;
    CC[3] = t19 * t17 + 0.48 * t2 * t20 * t9;
    CC[4] = 0.0;
    CC[5] = -0.48 * t12 * t6 * t9 - t4 * t15;
    return;
  }
}


x86 assembly (clang, -O0):
<Contact>:
push   %rbp
mov    %rsp,%rbp
sub    $0x80,%rsp
mov    %rdi,-0x8(%rbp)
mov    %rsi,-0x10(%rbp)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,(%rax)
mov    -0x10(%rbp),%rax
movsd  (%rax),%xmm0
movsd  %xmm0,-0x18(%rbp)
movsd  -0x18(%rbp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,-0x48(%rbp)
mov    -0x10(%rbp),%rax
movsd  0x8(%rax),%xmm0
movsd  %xmm0,-0x58(%rbp)
movsd  -0x58(%rbp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,-0x60(%rbp)
mov    -0x10(%rbp),%rax
movsd  0x10(%rax),%xmm0
movsd  %xmm0,-0x68(%rbp)
movsd  -0x68(%rbp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,-0x70(%rbp)
mov    -0x10(%rbp),%rax
movsd  0x18(%rax),%xmm0
movsd  %xmm0,-0x78(%rbp)
movsd  -0x78(%rbp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,-0x80(%rbp)
movsd  -0x58(%rbp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,-0x20(%rbp)
movsd  -0x78(%rbp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,-0x28(%rbp)
movsd  -0x28(%rbp),%xmm0
movsd  0xe24(%rip),%xmm1
mulsd  %xmm1,%xmm0
movsd  0xe28(%rip),%xmm1
addsd  %xmm1,%xmm0
movsd  %xmm0,-0x30(%rbp)
movsd  0xe0f(%rip),%xmm0
mulsd  -0x60(%rbp),%xmm0
mulsd  -0x70(%rbp),%xmm0
movsd  -0x80(%rbp),%xmm2
movsd  -0x20(%rbp),%xmm1
mulsd  -0x30(%rbp),%xmm1
movq   %xmm1,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm1
mulsd  %xmm2,%xmm0
addsd  %xmm1,%xmm0
movsd  %xmm0,-0x38(%rbp)
movsd  -0x18(%rbp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,-0x40(%rbp)
movsd  -0x68(%rbp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,-0x50(%rbp)
movsd  -0x48(%rbp),%xmm0
movsd  -0x38(%rbp),%xmm2
movsd  0xda2(%rip),%xmm1
mulsd  -0x40(%rbp),%xmm1
mulsd  -0x50(%rbp),%xmm1
mulsd  -0x80(%rbp),%xmm1
movq   %xmm1,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm1
mulsd  %xmm2,%xmm0
addsd  %xmm1,%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x8(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x10(%rax)
movsd  -0x40(%rbp),%xmm0
movsd  -0x38(%rbp),%xmm2
movsd  0xd4d(%rip),%xmm1
mulsd  -0x48(%rbp),%xmm1
mulsd  -0x50(%rbp),%xmm1
mulsd  -0x80(%rbp),%xmm1
mulsd  %xmm2,%xmm0
addsd  %xmm1,%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x18(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x20(%rax)
movsd  0xd11(%rip),%xmm0
mulsd  -0x20(%rbp),%xmm0
mulsd  -0x70(%rbp),%xmm0
movsd  -0x80(%rbp),%xmm2
movsd  -0x60(%rbp),%xmm1
mulsd  -0x30(%rbp),%xmm1
movq   %xmm1,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm1
mulsd  %xmm2,%xmm0
addsd  %xmm1,%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x28(%rax)
add    $0x80,%rsp
pop    %rbp
ret

x86 assembly (clang, -O2):
<Contact>:
push   %r14
push   %rbx
sub    $0x48,%rsp
mov    %rsi,%rbx
mov    %rdi,%r14
movq   $0x0,(%rdi)
movsd  (%rsi),%xmm0
movsd  %xmm0,0x10(%rsp)
call   1040 <cos@plt>
movsd  %xmm0,0x40(%rsp)
movsd  0x8(%rbx),%xmm0
movsd  %xmm0,(%rsp)
call   1040 <cos@plt>
movsd  %xmm0,0x28(%rsp)
movsd  0x10(%rbx),%xmm0
movsd  %xmm0,0x38(%rsp)
call   1040 <cos@plt>
movsd  %xmm0,0x20(%rsp)
movsd  0x18(%rbx),%xmm0
movsd  %xmm0,0x8(%rsp)
call   1030 <sin@plt>
movsd  %xmm0,0x18(%rsp)
movsd  (%rsp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,(%rsp)
movsd  0x8(%rsp),%xmm0
call   1040 <cos@plt>
mulsd  0xe54(%rip),%xmm0
addsd  0xe54(%rip),%xmm0
movsd  %xmm0,0x8(%rsp)
movsd  0x28(%rsp),%xmm2
mulsd  0xe48(%rip),%xmm2
mulsd  0x20(%rsp),%xmm2
movapd %xmm0,%xmm1
mulsd  (%rsp),%xmm1
mulsd  0x18(%rsp),%xmm2
subsd  %xmm1,%xmm2
movsd  %xmm2,0x30(%rsp)
movsd  0x10(%rsp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,0x10(%rsp)
movsd  0x38(%rsp),%xmm0
call   1030 <sin@plt>
movsd  0x10(%rsp),%xmm7
movapd %xmm7,%xmm1
movsd  0xdeb(%rip),%xmm5
mulsd  %xmm5,%xmm1
mulsd  %xmm0,%xmm1
movsd  0x18(%rsp),%xmm3
mulsd  %xmm3,%xmm1
movsd  0x40(%rsp),%xmm4
movapd %xmm4,%xmm2
movsd  0x30(%rsp),%xmm6
mulsd  %xmm6,%xmm2
addsd  %xmm1,%xmm2
movsd  %xmm2,0x8(%r14)
movq   $0x0,0x10(%r14)
movapd %xmm4,%xmm1
mulsd  0xdb7(%rip),%xmm1
mulsd  %xmm0,%xmm1
mulsd  %xmm3,%xmm1
movapd %xmm6,%xmm0
mulsd  %xmm7,%xmm0
addsd  %xmm1,%xmm0
movsd  %xmm0,0x18(%r14)
movq   $0x0,0x20(%r14)
movsd  (%rsp),%xmm0
mulsd  %xmm5,%xmm0
mulsd  0x20(%rsp),%xmm0
movsd  0x8(%rsp),%xmm1
mulsd  0x28(%rsp),%xmm1
mulsd  %xmm3,%xmm0
subsd  %xmm1,%xmm0
movsd  %xmm0,0x28(%r14)
add    $0x48,%rsp
pop    %rbx
pop    %r14
ret

LLVM IR (-O0):
define void @Contact(double* %0, double* %1) {
%3 = alloca double*
%4 = alloca double*
%5 = alloca double
%6 = alloca double
%7 = alloca double
%8 = alloca double
%9 = alloca double
%10 = alloca double
%11 = alloca double
%12 = alloca double
%13 = alloca double
%14 = alloca double
%15 = alloca double
%16 = alloca double
%17 = alloca double
%18 = alloca double
store double* %0, double** %3
store double* %1, double** %4
%19 = load double*, double** %3
%20 = getelementptr inbounds double, double* %19, i64 0
store double 0.000000e+00, double* %20
%21 = load double*, double** %4
%22 = getelementptr inbounds double, double* %21, i64 0
%23 = load double, double* %22
store double %23, double* %5
%24 = load double, double* %5
%25 = call double @cos(double %24)
store double %25, double* %11
%26 = load double*, double** %4
%27 = getelementptr inbounds double, double* %26, i64 1
%28 = load double, double* %27
store double %28, double* %13
%29 = load double, double* %13
%30 = call double @cos(double %29)
store double %30, double* %14
%31 = load double*, double** %4
%32 = getelementptr inbounds double, double* %31, i64 2
%33 = load double, double* %32
store double %33, double* %15
%34 = load double, double* %15
%35 = call double @cos(double %34)
store double %35, double* %16
%36 = load double*, double** %4
%37 = getelementptr inbounds double, double* %36, i64 3
%38 = load double, double* %37
store double %38, double* %17
%39 = load double, double* %17
%40 = call double @sin(double %39)
store double %40, double* %18
%41 = load double, double* %13
%42 = call double @sin(double %41)
store double %42, double* %6
%43 = load double, double* %17
%44 = call double @cos(double %43)
store double %44, double* %7
%45 = load double, double* %7
%46 = call double @llvm.fmuladd.f64(double -4.800000e-01, double %45, double -4.500000e-01)
store double %46, double* %8
%47 = load double, double* %14
%48 = fmul double 4.800000e-01, %47
%49 = load double, double* %16
%50 = fmul double %48, %49
%51 = load double, double* %18
%52 = load double, double* %6
%53 = load double, double* %8
%54 = fmul double %52, %53
%55 = fneg double %54
%56 = call double @llvm.fmuladd.f64(double %50, double %51, double %55)
store double %56, double* %9
%57 = load double, double* %5
%58 = call double @sin(double %57)
store double %58, double* %10
%59 = load double, double* %15
%60 = call double @sin(double %59)
store double %60, double* %12
%61 = load double, double* %11
%62 = load double, double* %9
%63 = load double, double* %10
%64 = fmul double 4.800000e-01, %63
%65 = load double, double* %12
%66 = fmul double %64, %65
%67 = load double, double* %18
%68 = fmul double %66, %67
%69 = fneg double %68
%70 = call double @llvm.fmuladd.f64(double %61, double %62, double %69)
%71 = load double*, double** %3
%72 = getelementptr inbounds double, double* %71, i64 1
store double %70, double* %72
%73 = load double*, double** %3
%74 = getelementptr inbounds double, double* %73, i64 2
store double 0.000000e+00, double* %74
%75 = load double, double* %10
%76 = load double, double* %9
%77 = load double, double* %11
%78 = fmul double 4.800000e-01, %77
%79 = load double, double* %12
%80 = fmul double %78, %79
%81 = load double, double* %18
%82 = fmul double %80, %81
%83 = call double @llvm.fmuladd.f64(double %75, double %76, double %82)
%84 = load double*, double** %3
%85 = getelementptr inbounds double, double* %84, i64 3
store double %83, double* %85
%86 = load double*, double** %3
%87 = getelementptr inbounds double, double* %86, i64 4
store double 0.000000e+00, double* %87
%88 = load double, double* %6
%89 = fmul double -4.800000e-01, %88
%90 = load double, double* %16
%91 = fmul double %89, %90
%92 = load double, double* %18
%93 = load double, double* %14
%94 = load double, double* %8
%95 = fmul double %93, %94
%96 = fneg double %95
%97 = call double @llvm.fmuladd.f64(double %91, double %92, double %96)
%98 = load double*, double** %3
%99 = getelementptr inbounds double, double* %98, i64 5
store double %97, double* %99
ret void
}

LLVM IR (-O2):
define void @Contact(double* nocapture writeonly %0, double* nocapture %1) {
store double 0.000000e+00, double* %0
%3 = load double, double* %1
%4 = tail call double @cos(double %3)
%5 = getelementptr inbounds double, double* %1, i64 1
%6 = load double, double* %5
%7 = tail call double @cos(double %6)
%8 = getelementptr inbounds double, double* %1, i64 2
%9 = load double, double* %8
%10 = tail call double @cos(double %9)
%11 = getelementptr inbounds double, double* %1, i64 3
%12 = load double, double* %11
%13 = tail call double @sin(double %12)
%14 = tail call double @sin(double %6)
%15 = tail call double @cos(double %12)
%16 = tail call double @llvm.fmuladd.f64(double %15, double -4.800000e-01, double -4.500000e-01)
%17 = fmul double %7, 4.800000e-01
%18 = fmul double %17, %10
%19 = fneg double %14
%20 = fmul double %16, %19
%21 = tail call double @llvm.fmuladd.f64(double %18, double %13, double %20)
%22 = tail call double @sin(double %3)
%23 = tail call double @sin(double %9)
%24 = fmul double %22, -4.800000e-01
%25 = fmul double %24, %23
%26 = fmul double %13, %25
%27 = tail call double @llvm.fmuladd.f64(double %4, double %21, double %26)
%28 = getelementptr inbounds double, double* %0, i64 1
store double %27, double* %28
%29 = getelementptr inbounds double, double* %0, i64 2
store double 0.000000e+00, double* %29
%30 = fmul double %4, 4.800000e-01
%31 = fmul double %30, %23
%32 = fmul double %13, %31
%33 = tail call double @llvm.fmuladd.f64(double %22, double %21, double %32)
%34 = getelementptr inbounds double, double* %0, i64 3
store double %33, double* %34
%35 = getelementptr inbounds double, double* %0, i64 4
store double 0.000000e+00, double* %35
%36 = fmul double %14, -4.800000e-01
%37 = fmul double %10, %36
%38 = fneg double %7
%39 = fmul double %16, %38
%40 = tail call double @llvm.fmuladd.f64(double %37, double %13, double %39)
%41 = getelementptr inbounds double, double* %0, i64 5
store double %40, double* %41
ret void
}