void Contact(CC, q) double CC[6];
double q[7];
{
  double t1;
  double t10;
  double t11;
  double t14;
  double t16;
  double t18;
  double t2;
  double t20;
  double t21;
  double t3;
  double t4;
  double t6;
  double t7;
  double t8;
  {
    t1 = q[0];
    t2 = cos(t1);
    t3 = q[1];
    t4 = sin(t3);
    CC[0] = 0.45 * t2 * t4;
    t6 = cos(t3);
    t7 = q[2];
    t8 = cos(t7);
    t10 = q[3];
    t11 = sin(t10);
    t14 = cos(t10);
    t16 = -0.45 - 0.48 * t14;
    t18 = 0.48 * t6 * t8 * t11 - t4 * t16;
    t20 = sin(t1);
    t21 = sin(t7);
    CC[1] = t2 * t18 - 0.48 * t20 * t21 * t11;
    CC[2] = 0.45 * t20 * t4;
    CC[3] = t20 * t18 + 0.48 * t2 * t21 * t11;
    CC[4] = 0.45 * t6;
    CC[5] = -0.48 * t4 * t8 * t11 - t6 * t16;
    return;
  }
}


x86 assembly (clang, -O0):
<Contact>:
push   %rbp
mov    %rsp,%rbp
sub    $0x80,%rsp
mov    %rdi,-0x8(%rbp)
mov    %rsi,-0x10(%rbp)
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,-0x60(%rbp)
movsd  -0x60(%rbp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,-0x68(%rbp)
movsd  0xe94(%rip),%xmm0
mulsd  -0x48(%rbp),%xmm0
mulsd  -0x68(%rbp),%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,(%rax)
movsd  -0x60(%rbp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,-0x70(%rbp)
mov    -0x10(%rbp),%rax
movsd  0x10(%rax),%xmm0
movsd  %xmm0,-0x78(%rbp)
movsd  -0x78(%rbp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,-0x80(%rbp)
mov    -0x10(%rbp),%rax
movsd  0x18(%rax),%xmm0
movsd  %xmm0,-0x20(%rbp)
movsd  -0x20(%rbp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,-0x28(%rbp)
movsd  -0x20(%rbp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,-0x30(%rbp)
movsd  -0x30(%rbp),%xmm0
movsd  0xe15(%rip),%xmm1
mulsd  %xmm1,%xmm0
movsd  0xe21(%rip),%xmm1
addsd  %xmm1,%xmm0
movsd  %xmm0,-0x38(%rbp)
movsd  0xe08(%rip),%xmm0
mulsd  -0x70(%rbp),%xmm0
mulsd  -0x80(%rbp),%xmm0
movsd  -0x28(%rbp),%xmm2
movsd  -0x68(%rbp),%xmm1
mulsd  -0x38(%rbp),%xmm1
movq   %xmm1,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm1
mulsd  %xmm2,%xmm0
addsd  %xmm1,%xmm0
movsd  %xmm0,-0x40(%rbp)
movsd  -0x18(%rbp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,-0x50(%rbp)
movsd  -0x78(%rbp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,-0x58(%rbp)
movsd  -0x48(%rbp),%xmm0
movsd  -0x40(%rbp),%xmm2
movsd  0xd9b(%rip),%xmm1
mulsd  -0x50(%rbp),%xmm1
mulsd  -0x58(%rbp),%xmm1
mulsd  -0x28(%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)
movsd  0xd54(%rip),%xmm0
mulsd  -0x50(%rbp),%xmm0
mulsd  -0x68(%rbp),%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x10(%rax)
movsd  -0x50(%rbp),%xmm0
movsd  -0x40(%rbp),%xmm2
movsd  0xd37(%rip),%xmm1
mulsd  -0x48(%rbp),%xmm1
mulsd  -0x58(%rbp),%xmm1
mulsd  -0x28(%rbp),%xmm1
mulsd  %xmm2,%xmm0
addsd  %xmm1,%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x18(%rax)
movsd  0xd07(%rip),%xmm0
mulsd  -0x70(%rbp),%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x20(%rax)
movsd  0xce9(%rip),%xmm0
mulsd  -0x68(%rbp),%xmm0
mulsd  -0x80(%rbp),%xmm0
movsd  -0x28(%rbp),%xmm2
movsd  -0x70(%rbp),%xmm1
mulsd  -0x38(%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
movsd  (%rsi),%xmm0
movsd  %xmm0,0x10(%rsp)
call   1040 <cos@plt>
movsd  %xmm0,0x28(%rsp)
movsd  0x8(%rbx),%xmm0
movsd  %xmm0,(%rsp)
call   1030 <sin@plt>
movsd  %xmm0,0x20(%rsp)
movsd  0x28(%rsp),%xmm1
mulsd  0xe9b(%rip),%xmm1
mulsd  %xmm0,%xmm1
movsd  %xmm1,(%r14)
movsd  (%rsp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,(%rsp)
movsd  0x10(%rbx),%xmm0
movsd  %xmm0,0x40(%rsp)
call   1040 <cos@plt>
movsd  %xmm0,0x30(%rsp)
movsd  0x18(%rbx),%xmm0
movsd  %xmm0,0x8(%rsp)
call   1030 <sin@plt>
movsd  %xmm0,0x18(%rsp)
movsd  0x8(%rsp),%xmm0
call   1040 <cos@plt>
mulsd  0xe4c(%rip),%xmm0
addsd  0xe4c(%rip),%xmm0
movsd  %xmm0,0x8(%rsp)
movsd  (%rsp),%xmm2
mulsd  0xe41(%rip),%xmm2
mulsd  0x30(%rsp),%xmm2
movapd %xmm0,%xmm1
mulsd  0x20(%rsp),%xmm1
mulsd  0x18(%rsp),%xmm2
subsd  %xmm1,%xmm2
movsd  %xmm2,0x38(%rsp)
movsd  0x10(%rsp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,0x10(%rsp)
movsd  0x40(%rsp),%xmm0
call   1030 <sin@plt>
movsd  0x10(%rsp),%xmm3
movapd %xmm3,%xmm1
movsd  0xde2(%rip),%xmm8
mulsd  %xmm8,%xmm1
mulsd  %xmm0,%xmm1
movsd  0x18(%rsp),%xmm5
mulsd  %xmm5,%xmm1
movsd  0x28(%rsp),%xmm4
movapd %xmm4,%xmm2
movsd  0x38(%rsp),%xmm7
mulsd  %xmm7,%xmm2
addsd  %xmm1,%xmm2
movsd  %xmm2,0x8(%r14)
movapd %xmm3,%xmm1
movapd %xmm3,%xmm6
movsd  0xd99(%rip),%xmm3
mulsd  %xmm3,%xmm1
movsd  0x20(%rsp),%xmm2
mulsd  %xmm2,%xmm1
movsd  %xmm1,0x10(%r14)
movapd %xmm4,%xmm1
mulsd  0xd91(%rip),%xmm1
mulsd  %xmm0,%xmm1
mulsd  %xmm5,%xmm1
mulsd  %xmm6,%xmm7
addsd  %xmm1,%xmm7
movsd  %xmm7,0x18(%r14)
movapd %xmm3,%xmm0
movsd  (%rsp),%xmm1
mulsd  %xmm1,%xmm0
movsd  %xmm0,0x20(%r14)
movapd %xmm2,%xmm0
mulsd  %xmm8,%xmm0
mulsd  0x30(%rsp),%xmm0
movsd  0x8(%rsp),%xmm2
mulsd  %xmm1,%xmm2
mulsd  %xmm5,%xmm0
subsd  %xmm2,%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** %4
%20 = getelementptr inbounds double, double* %19, i64 0
%21 = load double, double* %20
store double %21, double* %5
%22 = load double, double* %5
%23 = call double @cos(double %22)
store double %23, double* %11
%24 = load double*, double** %4
%25 = getelementptr inbounds double, double* %24, i64 1
%26 = load double, double* %25
store double %26, double* %14
%27 = load double, double* %14
%28 = call double @sin(double %27)
store double %28, double* %15
%29 = load double, double* %11
%30 = fmul double 4.500000e-01, %29
%31 = load double, double* %15
%32 = fmul double %30, %31
%33 = load double*, double** %3
%34 = getelementptr inbounds double, double* %33, i64 0
store double %32, double* %34
%35 = load double, double* %14
%36 = call double @cos(double %35)
store double %36, double* %16
%37 = load double*, double** %4
%38 = getelementptr inbounds double, double* %37, i64 2
%39 = load double, double* %38
store double %39, double* %17
%40 = load double, double* %17
%41 = call double @cos(double %40)
store double %41, double* %18
%42 = load double*, double** %4
%43 = getelementptr inbounds double, double* %42, i64 3
%44 = load double, double* %43
store double %44, double* %6
%45 = load double, double* %6
%46 = call double @sin(double %45)
store double %46, double* %7
%47 = load double, double* %6
%48 = call double @cos(double %47)
store double %48, double* %8
%49 = load double, double* %8
%50 = call double @llvm.fmuladd.f64(double -4.800000e-01, double %49, double -4.500000e-01)
store double %50, double* %9
%51 = load double, double* %16
%52 = fmul double 4.800000e-01, %51
%53 = load double, double* %18
%54 = fmul double %52, %53
%55 = load double, double* %7
%56 = load double, double* %15
%57 = load double, double* %9
%58 = fmul double %56, %57
%59 = fneg double %58
%60 = call double @llvm.fmuladd.f64(double %54, double %55, double %59)
store double %60, double* %10
%61 = load double, double* %5
%62 = call double @sin(double %61)
store double %62, double* %12
%63 = load double, double* %17
%64 = call double @sin(double %63)
store double %64, double* %13
%65 = load double, double* %11
%66 = load double, double* %10
%67 = load double, double* %12
%68 = fmul double 4.800000e-01, %67
%69 = load double, double* %13
%70 = fmul double %68, %69
%71 = load double, double* %7
%72 = fmul double %70, %71
%73 = fneg double %72
%74 = call double @llvm.fmuladd.f64(double %65, double %66, double %73)
%75 = load double*, double** %3
%76 = getelementptr inbounds double, double* %75, i64 1
store double %74, double* %76
%77 = load double, double* %12
%78 = fmul double 4.500000e-01, %77
%79 = load double, double* %15
%80 = fmul double %78, %79
%81 = load double*, double** %3
%82 = getelementptr inbounds double, double* %81, i64 2
store double %80, double* %82
%83 = load double, double* %12
%84 = load double, double* %10
%85 = load double, double* %11
%86 = fmul double 4.800000e-01, %85
%87 = load double, double* %13
%88 = fmul double %86, %87
%89 = load double, double* %7
%90 = fmul double %88, %89
%91 = call double @llvm.fmuladd.f64(double %83, double %84, double %90)
%92 = load double*, double** %3
%93 = getelementptr inbounds double, double* %92, i64 3
store double %91, double* %93
%94 = load double, double* %16
%95 = fmul double 4.500000e-01, %94
%96 = load double*, double** %3
%97 = getelementptr inbounds double, double* %96, i64 4
store double %95, double* %97
%98 = load double, double* %15
%99 = fmul double -4.800000e-01, %98
%100 = load double, double* %18
%101 = fmul double %99, %100
%102 = load double, double* %7
%103 = load double, double* %16
%104 = load double, double* %9
%105 = fmul double %103, %104
%106 = fneg double %105
%107 = call double @llvm.fmuladd.f64(double %101, double %102, double %106)
%108 = load double*, double** %3
%109 = getelementptr inbounds double, double* %108, i64 5
store double %107, double* %109
ret void
}

LLVM IR (-O2):
define void @Contact(double* nocapture writeonly %0, double* nocapture %1) {
%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 @sin(double %6)
%8 = fmul double %4, 4.500000e-01
%9 = fmul double %8, %7
store double %9, double* %0
%10 = tail call double @cos(double %6)
%11 = getelementptr inbounds double, double* %1, i64 2
%12 = load double, double* %11
%13 = tail call double @cos(double %12)
%14 = getelementptr inbounds double, double* %1, i64 3
%15 = load double, double* %14
%16 = tail call double @sin(double %15)
%17 = tail call double @cos(double %15)
%18 = tail call double @llvm.fmuladd.f64(double %17, double -4.800000e-01, double -4.500000e-01)
%19 = fmul double %10, 4.800000e-01
%20 = fmul double %19, %13
%21 = fneg double %7
%22 = fmul double %18, %21
%23 = tail call double @llvm.fmuladd.f64(double %20, double %16, double %22)
%24 = tail call double @sin(double %3)
%25 = tail call double @sin(double %12)
%26 = fmul double %24, -4.800000e-01
%27 = fmul double %26, %25
%28 = fmul double %16, %27
%29 = tail call double @llvm.fmuladd.f64(double %4, double %23, double %28)
%30 = getelementptr inbounds double, double* %0, i64 1
store double %29, double* %30
%31 = fmul double %24, 4.500000e-01
%32 = fmul double %7, %31
%33 = getelementptr inbounds double, double* %0, i64 2
store double %32, double* %33
%34 = fmul double %4, 4.800000e-01
%35 = fmul double %34, %25
%36 = fmul double %16, %35
%37 = tail call double @llvm.fmuladd.f64(double %24, double %23, double %36)
%38 = getelementptr inbounds double, double* %0, i64 3
store double %37, double* %38
%39 = fmul double %10, 4.500000e-01
%40 = getelementptr inbounds double, double* %0, i64 4
store double %39, double* %40
%41 = fmul double %7, -4.800000e-01
%42 = fmul double %41, %13
%43 = fneg double %10
%44 = fmul double %18, %43
%45 = tail call double @llvm.fmuladd.f64(double %42, double %16, double %44)
%46 = getelementptr inbounds double, double* %0, i64 5
store double %45, double* %46
ret void
}