void so3_drotz(double dRz[9], const double theta) {
  double s, c;
  _fsincos(theta, &s, &c, __func__,
           "/scratch/repos/new/home/jordi_armengol_estape/c-scraper/outputs/"
           "2022-01-22/02-19-57/repos/arpit15/OnlineCalibration/refs/heads/"
           "master/src/common/so3.h",
           162);
  const double data[9] = {-s, c, 0, -c, -s, 0, 0, 0, 0};
  memcpy(dRz, data, 9 * sizeof(double));
}


x86 assembly (clang, -O0):
<so3_drotz>:
push   %rbp
mov    %rsp,%rbp
sub    $0x70,%rsp
mov    %rdi,-0x8(%rbp)
movsd  %xmm0,-0x10(%rbp)
movsd  -0x10(%rbp),%xmm0
lea    -0x18(%rbp),%rdi
lea    -0x20(%rbp),%rsi
lea    0xebb(%rip),%rdx
lea    0xebe(%rip),%rcx
mov    $0xa2,%r8d
mov    $0x1,%al
call   1040 <_fsincos@plt>
movsd  -0x18(%rbp),%xmm0
movq   %xmm0,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm0
movsd  %xmm0,-0x70(%rbp)
movsd  -0x20(%rbp),%xmm0
movsd  %xmm0,-0x68(%rbp)
xorps  %xmm0,%xmm0
movsd  %xmm0,-0x60(%rbp)
movsd  -0x20(%rbp),%xmm0
movq   %xmm0,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm0
movsd  %xmm0,-0x58(%rbp)
movsd  -0x18(%rbp),%xmm0
movq   %xmm0,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm0
movsd  %xmm0,-0x50(%rbp)
xorps  %xmm0,%xmm0
movsd  %xmm0,-0x48(%rbp)
xorps  %xmm0,%xmm0
movsd  %xmm0,-0x40(%rbp)
xorps  %xmm0,%xmm0
movsd  %xmm0,-0x38(%rbp)
xorps  %xmm0,%xmm0
movsd  %xmm0,-0x30(%rbp)
mov    -0x8(%rbp),%rdi
lea    -0x70(%rbp),%rsi
mov    $0x48,%edx
call   1030 <memcpy@plt>
add    $0x70,%rsp
pop    %rbp
ret

x86 assembly (clang, -O2):
<so3_drotz>:
push   %rbx
sub    $0x10,%rsp
mov    %rdi,%rbx
lea    0xef1(%rip),%rdx
lea    0xef4(%rip),%rcx
lea    0x8(%rsp),%rdi
mov    %rsp,%rsi
mov    $0xa2,%r8d
mov    $0x1,%al
call   1030 <_fsincos@plt>
movsd  0x8(%rsp),%xmm0
movaps 0xeb8(%rip),%xmm1
xorps  %xmm1,%xmm0
movsd  (%rsp),%xmm2
xorps  %xmm2,%xmm1
movlps %xmm0,(%rbx)
movsd  %xmm2,0x8(%rbx)
movq   $0x0,0x10(%rbx)
movlhps %xmm0,%xmm1
movups %xmm1,0x18(%rbx)
xorps  %xmm0,%xmm0
movups %xmm0,0x28(%rbx)
movups %xmm0,0x38(%rbx)
add    $0x10,%rsp
pop    %rbx
ret

LLVM IR (-O0):
@__func__.so3_drotz = [10 x i8] c"so3_drotz\00"
@.str = [151 x i8] c"/scratch/repos/new/home/jordi_armengol_estape/c-scraper/outputs/2022-01-22/02-19-57/repos/arpit15/OnlineCalibration/refs/heads/master/src/common/so3.h\00"
define void @so3_drotz(double* %0, double %1) {
%3 = alloca double*
%4 = alloca double
%5 = alloca double
%6 = alloca double
%7 = alloca [9 x double]
store double* %0, double** %3
store double %1, double* %4
%8 = load double, double* %4
%9 = call i32 (double, double*, double*, i8*, i8*, i32, ...) bitcast (i32 (...)* @_fsincos to i32 (double, double*, double*, i8*, i8*, i32, ...)*)(double %8, double* %5, double* %6, i8* getelementptr inbounds ([10 x i8], [10 x i8]* @__func__.so3_drotz, i64 0, i64 0), i8* getelementptr inbounds ([151 x i8], [151 x i8]* @.str, i64 0, i64 0), i32 162)
%10 = getelementptr inbounds [9 x double], [9 x double]* %7, i64 0, i64 0
%11 = load double, double* %5
%12 = fneg double %11
store double %12, double* %10
%13 = getelementptr inbounds double, double* %10, i64 1
%14 = load double, double* %6
store double %14, double* %13
%15 = getelementptr inbounds double, double* %13, i64 1
store double 0.000000e+00, double* %15
%16 = getelementptr inbounds double, double* %15, i64 1
%17 = load double, double* %6
%18 = fneg double %17
store double %18, double* %16
%19 = getelementptr inbounds double, double* %16, i64 1
%20 = load double, double* %5
%21 = fneg double %20
store double %21, double* %19
%22 = getelementptr inbounds double, double* %19, i64 1
store double 0.000000e+00, double* %22
%23 = getelementptr inbounds double, double* %22, i64 1
store double 0.000000e+00, double* %23
%24 = getelementptr inbounds double, double* %23, i64 1
store double 0.000000e+00, double* %24
%25 = getelementptr inbounds double, double* %24, i64 1
store double 0.000000e+00, double* %25
%26 = load double*, double** %3
%27 = bitcast double* %26 to i8*
%28 = getelementptr inbounds [9 x double], [9 x double]* %7, i64 0, i64 0
%29 = bitcast double* %28 to i8*
ret void
}

LLVM IR (-O2):
@__func__.so3_drotz = [10 x i8] c"so3_drotz\00"
@.str = [151 x i8] c"/scratch/repos/new/home/jordi_armengol_estape/c-scraper/outputs/2022-01-22/02-19-57/repos/arpit15/OnlineCalibration/refs/heads/master/src/common/so3.h\00"
define void @so3_drotz(double* nocapture writeonly %0, double %1) {
%3 = alloca double
%4 = alloca double
%5 = bitcast double* %3 to i8*
%6 = bitcast double* %4 to i8*
%7 = call i32 (double, double*, double*, i8*, i8*, i32, ...) bitcast (i32 (...)* @_fsincos to i32 (double, double*, double*, i8*, i8*, i32, ...)*)(double %1, double* %3, double* %4, i8* getelementptr inbounds ([10 x i8], [10 x i8]* @__func__.so3_drotz, i64 0, i64 0), i8* getelementptr inbounds ([151 x i8], [151 x i8]* @.str, i64 0, i64 0), i32 162)
%8 = load double, double* %3
%9 = fneg double %8
%10 = load double, double* %4
%11 = fneg double %10
store double %9, double* %0
%12 = getelementptr inbounds double, double* %0, i64 1
store double %10, double* %12
%13 = getelementptr inbounds double, double* %0, i64 2
store double 0.000000e+00, double* %13
%14 = getelementptr inbounds double, double* %0, i64 3
store double %11, double* %14
%15 = getelementptr inbounds double, double* %0, i64 4
store double %9, double* %15
%16 = getelementptr inbounds double, double* %0, i64 5
%17 = bitcast double* %16 to i8*
ret void
}