#define NULL ((void *)0)
typedef unsigned long size_t; // Customize by platform.
typedef long intptr_t;
typedef unsigned long uintptr_t;
typedef long scalar_t__; // Either arithmetic or pointer type.
/* By default, we understand bool (as a convenience). */
typedef int bool;
#define false 0
#define true 1

/* Forward declarations */

/* Type definitions */

/* Variables and functions */
double cos(double);
double sin(double);
void ContactJacobian(double *CJ, double *q) {
  double t1;
  double t10;
  double t11;
  double t12;
  double t15;
  double t17;
  double t19;
  double t2;
  double t21;
  double t22;
  double t23;
  double t28;
  double t3;
  double t31;
  double t32;
  double t36;
  double t37;
  double t39;
  double t4;
  double t56;
  double t7;
  double t8;
  double t9;
  {
    t1 = q[0];
    t2 = sin(t1);
    t3 = q[1];
    t4 = sin(t3);
    CJ[0] = -0.45 * t2 * t4;
    t7 = cos(t3);
    t8 = q[2];
    t9 = cos(t8);
    t10 = t7 * t9;
    t11 = q[3];
    t12 = sin(t11);
    t15 = cos(t11);
    t17 = -0.45 - 0.48 * t15;
    t19 = 0.48 * t10 * t12 - t4 * t17;
    t21 = cos(t1);
    t22 = sin(t8);
    t23 = t21 * t22;
    CJ[1] = -t2 * t19 - 0.48 * t23 * t12;
    CJ[2] = 0.45 * t21 * t4;
    t28 = t2 * t22;
    CJ[3] = t21 * t19 - 0.48 * t28 * t12;
    CJ[4] = 0.0;
    CJ[5] = 0.0;
    t31 = t21 * t7;
    CJ[6] = 0.45 * t31;
    t32 = t4 * t9;
    t36 = -0.48 * t32 * t12 - t7 * t17;
    CJ[7] = t21 * t36;
    t37 = t2 * t7;
    CJ[8] = 0.45 * t37;
    CJ[9] = t2 * t36;
    CJ[10] = -0.45 * t4;
    CJ[11] = -t19;
    CJ[12] = 0.0;
    t39 = t22 * t12;
    CJ[13] = -0.48 * t31 * t39 - 0.48 * t2 * t9 * t12;
    CJ[14] = 0.0;
    CJ[15] = -0.48 * t37 * t39 + 0.48 * t21 * t9 * t12;
    CJ[16] = 0.0;
    CJ[17] = 0.48 * t4 * t22 * t12;
    CJ[18] = 0.0;
    t56 = 0.48 * t10 * t15 - 0.48 * t4 * t12;
    CJ[19] = t21 * t56 - 0.48 * t28 * t15;
    CJ[20] = 0.0;
    CJ[21] = t2 * t56 + 0.48 * t23 * t15;
    CJ[22] = 0.0;
    CJ[23] = -0.48 * t32 * t15 - 0.48 * t7 * t12;
    CJ[24] = 0.0;
    CJ[25] = 0.0;
    CJ[26] = 0.0;
    CJ[27] = 0.0;
    CJ[28] = 0.0;
    CJ[29] = 0.0;
    CJ[30] = 0.0;
    CJ[31] = 0.0;
    CJ[32] = 0.0;
    CJ[33] = 0.0;
    CJ[34] = 0.0;
    CJ[35] = 0.0;
    CJ[36] = 0.0;
    CJ[37] = 0.0;
    CJ[38] = 0.0;
    CJ[39] = 0.0;
    CJ[40] = 0.0;
    CJ[41] = 0.0;
    return;
  }
}


x86 assembly (clang, -O0):
<ContactJacobian>:
push   %rbp
mov    %rsp,%rbp
sub    $0xd0,%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   1030 <sin@plt>
movsd  %xmm0,-0x50(%rbp)
mov    -0x10(%rbp),%rax
movsd  0x8(%rax),%xmm0
movsd  %xmm0,-0x78(%rbp)
movsd  -0x78(%rbp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,-0xa8(%rbp)
ff
movsd  0xe99(%rip),%xmm0
mulsd  -0x50(%rbp),%xmm0
mulsd  -0xa8(%rbp),%xmm0
ff
mov    -0x8(%rbp),%rax
movsd  %xmm0,(%rax)
movsd  -0x78(%rbp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,-0xb8(%rbp)
ff
mov    -0x10(%rbp),%rax
movsd  0x10(%rax),%xmm0
movsd  %xmm0,-0xc0(%rbp)
ff
movsd  -0xc0(%rbp),%xmm0
ff
call   1040 <cos@plt>
movsd  %xmm0,-0xc8(%rbp)
ff
movsd  -0xb8(%rbp),%xmm0
ff
mulsd  -0xc8(%rbp),%xmm0
ff
movsd  %xmm0,-0x20(%rbp)
mov    -0x10(%rbp),%rax
movsd  0x18(%rax),%xmm0
movsd  %xmm0,-0x28(%rbp)
movsd  -0x28(%rbp),%xmm0
call   1030 <sin@plt>
movsd  %xmm0,-0x30(%rbp)
movsd  -0x28(%rbp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,-0x38(%rbp)
movsd  -0x38(%rbp),%xmm0
movsd  0xdf6(%rip),%xmm1
mulsd  %xmm1,%xmm0
movsd  0xdf2(%rip),%xmm1
addsd  %xmm1,%xmm0
movsd  %xmm0,-0x40(%rbp)
movsd  0xdd1(%rip),%xmm0
mulsd  -0x20(%rbp),%xmm0
movsd  -0x30(%rbp),%xmm2
movsd  -0xa8(%rbp),%xmm1
ff
mulsd  -0x40(%rbp),%xmm1
movq   %xmm1,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm1
mulsd  %xmm2,%xmm0
addsd  %xmm1,%xmm0
movsd  %xmm0,-0x48(%rbp)
movsd  -0x18(%rbp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,-0x58(%rbp)
movsd  -0xc0(%rbp),%xmm0
ff
call   1030 <sin@plt>
movsd  %xmm0,-0x60(%rbp)
movsd  -0x58(%rbp),%xmm0
mulsd  -0x60(%rbp),%xmm0
movsd  %xmm0,-0x68(%rbp)
movsd  -0x50(%rbp),%xmm0
movq   %xmm0,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm0
movsd  -0x48(%rbp),%xmm2
movsd  0xd3d(%rip),%xmm1
mulsd  -0x68(%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  %xmm0,0x8(%rax)
movsd  0xd1b(%rip),%xmm0
mulsd  -0x58(%rbp),%xmm0
mulsd  -0xa8(%rbp),%xmm0
ff
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x10(%rax)
movsd  -0x50(%rbp),%xmm0
mulsd  -0x60(%rbp),%xmm0
movsd  %xmm0,-0x70(%rbp)
movsd  -0x58(%rbp),%xmm0
movsd  -0x48(%rbp),%xmm2
movsd  0xccc(%rip),%xmm1
mulsd  -0x70(%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  %xmm0,0x18(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x20(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x28(%rax)
movsd  -0x58(%rbp),%xmm0
mulsd  -0xb8(%rbp),%xmm0
ff
movsd  %xmm0,-0x80(%rbp)
movsd  0xc80(%rip),%xmm0
mulsd  -0x80(%rbp),%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x30(%rax)
movsd  -0xa8(%rbp),%xmm0
ff
mulsd  -0xc8(%rbp),%xmm0
ff
movsd  %xmm0,-0x88(%rbp)
ff
movsd  0xc42(%rip),%xmm0
mulsd  -0x88(%rbp),%xmm0
ff
movsd  -0x30(%rbp),%xmm2
movsd  -0xb8(%rbp),%xmm1
ff
mulsd  -0x40(%rbp),%xmm1
movq   %xmm1,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm1
mulsd  %xmm2,%xmm0
addsd  %xmm1,%xmm0
movsd  %xmm0,-0x90(%rbp)
ff
movsd  -0x58(%rbp),%xmm0
mulsd  -0x90(%rbp),%xmm0
ff
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x38(%rax)
movsd  -0x50(%rbp),%xmm0
mulsd  -0xb8(%rbp),%xmm0
ff
movsd  %xmm0,-0x98(%rbp)
ff
movsd  0xbde(%rip),%xmm0
mulsd  -0x98(%rbp),%xmm0
ff
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x40(%rax)
movsd  -0x50(%rbp),%xmm0
mulsd  -0x90(%rbp),%xmm0
ff
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x48(%rax)
movsd  0xba7(%rip),%xmm0
mulsd  -0xa8(%rbp),%xmm0
ff
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x50(%rax)
movsd  -0x48(%rbp),%xmm0
movq   %xmm0,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x58(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x60(%rax)
movsd  -0x60(%rbp),%xmm0
mulsd  -0x30(%rbp),%xmm0
movsd  %xmm0,-0xa0(%rbp)
ff
movsd  0xb43(%rip),%xmm0
mulsd  -0x80(%rbp),%xmm0
movsd  -0xa0(%rbp),%xmm2
ff
movsd  0xb26(%rip),%xmm1
mulsd  -0x50(%rbp),%xmm1
mulsd  -0xc8(%rbp),%xmm1
ff
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  %xmm0,0x68(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x70(%rax)
movsd  0xae0(%rip),%xmm0
mulsd  -0x98(%rbp),%xmm0
ff
movsd  -0xa0(%rbp),%xmm2
ff
movsd  0xac0(%rip),%xmm1
mulsd  -0x58(%rbp),%xmm1
mulsd  -0xc8(%rbp),%xmm1
ff
mulsd  -0x30(%rbp),%xmm1
mulsd  %xmm2,%xmm0
addsd  %xmm1,%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x78(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x80(%rax)
movsd  0xa86(%rip),%xmm0
mulsd  -0xa8(%rbp),%xmm0
ff
mulsd  -0x60(%rbp),%xmm0
mulsd  -0x30(%rbp),%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,0x88(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x90(%rax)
movsd  0xa51(%rip),%xmm0
mulsd  -0x20(%rbp),%xmm0
movsd  -0x38(%rbp),%xmm2
movsd  0xa3f(%rip),%xmm1
mulsd  -0xa8(%rbp),%xmm1
ff
mulsd  -0x30(%rbp),%xmm1
movq   %xmm1,%rax
movabs $0x8000000000000000,%rcx
xor    %rcx,%rax
movq   %rax,%xmm1
mulsd  %xmm2,%xmm0
addsd  %xmm1,%xmm0
movsd  %xmm0,-0xb0(%rbp)
ff
movsd  -0x58(%rbp),%xmm0
movsd  -0xb0(%rbp),%xmm2
ff
movsd  0x9f6(%rip),%xmm1
mulsd  -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  %xmm0,0x98(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0xa0(%rax)
movsd  -0x50(%rbp),%xmm0
movsd  -0xb0(%rbp),%xmm2
ff
movsd  0x99d(%rip),%xmm1
mulsd  -0x68(%rbp),%xmm1
mulsd  -0x38(%rbp),%xmm1
mulsd  %xmm2,%xmm0
addsd  %xmm1,%xmm0
mov    -0x8(%rbp),%rax
movsd  %xmm0,0xa8(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0xb0(%rax)
movsd  0x970(%rip),%xmm0
mulsd  -0x88(%rbp),%xmm0
ff
movsd  -0x38(%rbp),%xmm2
movsd  0x953(%rip),%xmm1
mulsd  -0xb8(%rbp),%xmm1
ff
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  %xmm0,0xb8(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0xc0(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0xc8(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0xd0(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0xd8(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0xe0(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0xe8(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0xf0(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0xf8(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x100(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x108(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x110(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x118(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x120(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x128(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x130(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x138(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x140(%rax)
mov    -0x8(%rbp),%rax
xorps  %xmm0,%xmm0
movsd  %xmm0,0x148(%rax)
add    $0xd0,%rsp
pop    %rbp
ret

x86 assembly (clang, -O2):
<ContactJacobian>:
push   %r14
push   %rbx
sub    $0x78,%rsp
mov    %rsi,%r14
mov    %rdi,%rbx
movsd  (%rsi),%xmm0
movsd  %xmm0,0x30(%rsp)
call   1030 <sin@plt>
movaps %xmm0,0x60(%rsp)
movsd  0x8(%r14),%xmm0
movsd  %xmm0,(%rsp)
call   1030 <sin@plt>
movsd  %xmm0,0x10(%rsp)
movapd 0x60(%rsp),%xmm1
mulsd  0xe9b(%rip),%xmm1
mulsd  %xmm0,%xmm1
movsd  %xmm1,(%rbx)
movsd  (%rsp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,0x18(%rsp)
movsd  0x10(%r14),%xmm0
movsd  %xmm0,0x40(%rsp)
call   1040 <cos@plt>
movsd  %xmm0,0x50(%rsp)
movsd  0x18(%rsp),%xmm1
mulsd  %xmm0,%xmm1
movsd  %xmm1,(%rsp)
movsd  0x18(%r14),%xmm0
movsd  %xmm0,0x20(%rsp)
call   1030 <sin@plt>
movsd  %xmm0,0x8(%rsp)
movsd  0x20(%rsp),%xmm0
call   1040 <cos@plt>
movsd  %xmm0,0x58(%rsp)
mulsd  0xe35(%rip),%xmm0
addsd  0xe25(%rip),%xmm0
movsd  %xmm0,0x48(%rsp)
movsd  (%rsp),%xmm1
mulsd  0xe22(%rip),%xmm1
movsd  %xmm1,(%rsp)
mulsd  0x10(%rsp),%xmm0
mulsd  0x8(%rsp),%xmm1
subsd  %xmm0,%xmm1
movapd %xmm1,0x20(%rsp)
movsd  0x30(%rsp),%xmm0
call   1040 <cos@plt>
movaps %xmm0,0x30(%rsp)
movsd  0x40(%rsp),%xmm0
call   1030 <sin@plt>
movapd 0x30(%rsp),%xmm15
movapd %xmm15,%xmm14
mulsd  %xmm0,%xmm14
movapd 0x60(%rsp),%xmm10
movapd %xmm10,%xmm2
xorpd  0xdd7(%rip),%xmm2
mulsd  0xdbe(%rip),%xmm14
movsd  0x8(%rsp),%xmm13
movapd %xmm13,%xmm3
mulsd  %xmm14,%xmm3
movapd 0x20(%rsp),%xmm1
mulsd  %xmm1,%xmm2
subsd  %xmm3,%xmm2
movsd  %xmm2,0x8(%rbx)
movsd  0xd9a(%rip),%xmm2
mulsd  %xmm15,%xmm2
movsd  0x10(%rsp),%xmm12
mulsd  %xmm12,%xmm2
movsd  %xmm2,0x10(%rbx)
movapd %xmm10,%xmm3
mulsd  %xmm0,%xmm3
movsd  0xd62(%rip),%xmm8
mulsd  %xmm8,%xmm3
movapd %xmm13,%xmm2
mulsd  %xmm3,%xmm2
movapd %xmm15,%xmm4
mulsd  %xmm1,%xmm4
addsd  %xmm2,%xmm4
movsd  %xmm4,0x18(%rbx)
movapd %xmm12,%xmm2
movsd  0x50(%rsp),%xmm1
mulsd  %xmm1,%xmm2
mulsd  %xmm8,%xmm2
movsd  0x18(%rsp),%xmm11
movsd  0x48(%rsp),%xmm5
mulsd  %xmm11,%xmm5
movapd %xmm2,%xmm4
mulsd  %xmm13,%xmm4
subsd  %xmm5,%xmm4
movapd 0xd2f(%rip),%xmm7
unpcklpd %xmm4,%xmm7
movapd %xmm11,%xmm5
mulsd  %xmm15,%xmm5
xorps  %xmm9,%xmm9
movups %xmm9,0x20(%rbx)
movapd %xmm5,%xmm6
unpcklpd %xmm15,%xmm6
mulpd  %xmm7,%xmm6
movupd %xmm6,0x30(%rbx)
movapd %xmm10,%xmm4
mulsd  %xmm11,%xmm4
movapd %xmm4,%xmm6
unpcklpd %xmm10,%xmm6
mulpd  %xmm7,%xmm6
movupd %xmm6,0x40(%rbx)
movsd  0xcb2(%rip),%xmm6
mulsd  %xmm12,%xmm6
movsd  %xmm6,0x50(%rbx)
movaps 0x20(%rsp),%xmm6
xorps  0xcbc(%rip),%xmm6
movlps %xmm6,0x58(%rbx)
movapd %xmm13,%xmm6
mulsd  %xmm0,%xmm6
mulsd  %xmm8,%xmm5
movapd %xmm10,%xmm7
mulsd  %xmm8,%xmm7
mulsd  %xmm1,%xmm7
mulsd  %xmm13,%xmm7
mulsd  %xmm6,%xmm5
addsd  %xmm7,%xmm5
movq   $0x0,0x60(%rbx)
movsd  %xmm5,0x68(%rbx)
movapd %xmm15,%xmm5
movsd  0xc65(%rip),%xmm7
mulsd  %xmm7,%xmm5
mulsd  %xmm1,%xmm5
mulsd  %xmm8,%xmm4
mulsd  %xmm6,%xmm4
mulsd  %xmm13,%xmm5
addsd  %xmm5,%xmm4
movq   $0x0,0x70(%rbx)
movsd  %xmm4,0x78(%rbx)
movapd %xmm12,%xmm4
mulsd  %xmm7,%xmm4
movq   $0x0,0x80(%rbx)
mulsd  %xmm4,%xmm0
mulsd  %xmm13,%xmm0
movsd  %xmm0,0x88(%rbx)
mulsd  %xmm13,%xmm4
movsd  (%rsp),%xmm0
movsd  0x58(%rsp),%xmm6
mulsd  %xmm6,%xmm0
subsd  %xmm4,%xmm0
mulsd  %xmm6,%xmm3
movapd %xmm15,%xmm1
mulsd  %xmm0,%xmm1
addsd  %xmm3,%xmm1
movq   $0x0,0x90(%rbx)
movsd  %xmm1,0x98(%rbx)
mulsd  %xmm10,%xmm0
mulsd  %xmm6,%xmm14
addsd  %xmm14,%xmm0
movq   $0x0,0xa0(%rbx)
movsd  %xmm0,0xa8(%rbx)
movapd %xmm11,%xmm0
mulsd  %xmm8,%xmm0
mulsd  %xmm13,%xmm0
mulsd  %xmm6,%xmm2
addsd  %xmm0,%xmm2
movq   $0x0,0xb0(%rbx)
movsd  %xmm2,0xb8(%rbx)
movups %xmm9,0x140(%rbx)
movups %xmm9,0x130(%rbx)
movups %xmm9,0x120(%rbx)
movups %xmm9,0x110(%rbx)
movups %xmm9,0x100(%rbx)
movups %xmm9,0xf0(%rbx)
movups %xmm9,0xe0(%rbx)
movups %xmm9,0xd0(%rbx)
movups %xmm9,0xc0(%rbx)
add    $0x78,%rsp
pop    %rbx
pop    %r14
ret

LLVM IR (-O0):
define void @ContactJacobian(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
%19 = alloca double
%20 = alloca double
%21 = alloca double
%22 = alloca double
%23 = alloca double
%24 = alloca double
%25 = alloca double
%26 = alloca double
%27 = alloca double
store double* %0, double** %3
store double* %1, double** %4
%28 = load double*, double** %4
%29 = getelementptr inbounds double, double* %28, i64 0
%30 = load double, double* %29
store double %30, double* %5
%31 = load double, double* %5
%32 = call double @sin(double %31)
store double %32, double* %12
%33 = load double*, double** %4
%34 = getelementptr inbounds double, double* %33, i64 1
%35 = load double, double* %34
store double %35, double* %17
%36 = load double, double* %17
%37 = call double @sin(double %36)
store double %37, double* %23
%38 = load double, double* %12
%39 = fmul double -4.500000e-01, %38
%40 = load double, double* %23
%41 = fmul double %39, %40
%42 = load double*, double** %3
%43 = getelementptr inbounds double, double* %42, i64 0
store double %41, double* %43
%44 = load double, double* %17
%45 = call double @cos(double %44)
store double %45, double* %25
%46 = load double*, double** %4
%47 = getelementptr inbounds double, double* %46, i64 2
%48 = load double, double* %47
store double %48, double* %26
%49 = load double, double* %26
%50 = call double @cos(double %49)
store double %50, double* %27
%51 = load double, double* %25
%52 = load double, double* %27
%53 = fmul double %51, %52
store double %53, double* %6
%54 = load double*, double** %4
%55 = getelementptr inbounds double, double* %54, i64 3
%56 = load double, double* %55
store double %56, double* %7
%57 = load double, double* %7
%58 = call double @sin(double %57)
store double %58, double* %8
%59 = load double, double* %7
%60 = call double @cos(double %59)
store double %60, double* %9
%61 = load double, double* %9
%62 = call double @llvm.fmuladd.f64(double -4.800000e-01, double %61, double -4.500000e-01)
store double %62, double* %10
%63 = load double, double* %6
%64 = fmul double 4.800000e-01, %63
%65 = load double, double* %8
%66 = load double, double* %23
%67 = load double, double* %10
%68 = fmul double %66, %67
%69 = fneg double %68
%70 = call double @llvm.fmuladd.f64(double %64, double %65, double %69)
store double %70, double* %11
%71 = load double, double* %5
%72 = call double @cos(double %71)
store double %72, double* %13
%73 = load double, double* %26
%74 = call double @sin(double %73)
store double %74, double* %14
%75 = load double, double* %13
%76 = load double, double* %14
%77 = fmul double %75, %76
store double %77, double* %15
%78 = load double, double* %12
%79 = fneg double %78
%80 = load double, double* %11
%81 = load double, double* %15
%82 = fmul double 4.800000e-01, %81
%83 = load double, double* %8
%84 = fmul double %82, %83
%85 = fneg double %84
%86 = call double @llvm.fmuladd.f64(double %79, double %80, double %85)
%87 = load double*, double** %3
%88 = getelementptr inbounds double, double* %87, i64 1
store double %86, double* %88
%89 = load double, double* %13
%90 = fmul double 4.500000e-01, %89
%91 = load double, double* %23
%92 = fmul double %90, %91
%93 = load double*, double** %3
%94 = getelementptr inbounds double, double* %93, i64 2
store double %92, double* %94
%95 = load double, double* %12
%96 = load double, double* %14
%97 = fmul double %95, %96
store double %97, double* %16
%98 = load double, double* %13
%99 = load double, double* %11
%100 = load double, double* %16
%101 = fmul double 4.800000e-01, %100
%102 = load double, double* %8
%103 = fmul double %101, %102
%104 = fneg double %103
%105 = call double @llvm.fmuladd.f64(double %98, double %99, double %104)
%106 = load double*, double** %3
%107 = getelementptr inbounds double, double* %106, i64 3
store double %105, double* %107
%108 = load double*, double** %3
%109 = getelementptr inbounds double, double* %108, i64 4
store double 0.000000e+00, double* %109
%110 = load double*, double** %3
%111 = getelementptr inbounds double, double* %110, i64 5
store double 0.000000e+00, double* %111
%112 = load double, double* %13
%113 = load double, double* %25
%114 = fmul double %112, %113
store double %114, double* %18
%115 = load double, double* %18
%116 = fmul double 4.500000e-01, %115
%117 = load double*, double** %3
%118 = getelementptr inbounds double, double* %117, i64 6
store double %116, double* %118
%119 = load double, double* %23
%120 = load double, double* %27
%121 = fmul double %119, %120
store double %121, double* %19
%122 = load double, double* %19
%123 = fmul double -4.800000e-01, %122
%124 = load double, double* %8
%125 = load double, double* %25
%126 = load double, double* %10
%127 = fmul double %125, %126
%128 = fneg double %127
%129 = call double @llvm.fmuladd.f64(double %123, double %124, double %128)
store double %129, double* %20
%130 = load double, double* %13
%131 = load double, double* %20
%132 = fmul double %130, %131
%133 = load double*, double** %3
%134 = getelementptr inbounds double, double* %133, i64 7
store double %132, double* %134
%135 = load double, double* %12
%136 = load double, double* %25
%137 = fmul double %135, %136
store double %137, double* %21
%138 = load double, double* %21
%139 = fmul double 4.500000e-01, %138
%140 = load double*, double** %3
%141 = getelementptr inbounds double, double* %140, i64 8
store double %139, double* %141
%142 = load double, double* %12
%143 = load double, double* %20
%144 = fmul double %142, %143
%145 = load double*, double** %3
%146 = getelementptr inbounds double, double* %145, i64 9
store double %144, double* %146
%147 = load double, double* %23
%148 = fmul double -4.500000e-01, %147
%149 = load double*, double** %3
%150 = getelementptr inbounds double, double* %149, i64 10
store double %148, double* %150
%151 = load double, double* %11
%152 = fneg double %151
%153 = load double*, double** %3
%154 = getelementptr inbounds double, double* %153, i64 11
store double %152, double* %154
%155 = load double*, double** %3
%156 = getelementptr inbounds double, double* %155, i64 12
store double 0.000000e+00, double* %156
%157 = load double, double* %14
%158 = load double, double* %8
%159 = fmul double %157, %158
store double %159, double* %22
%160 = load double, double* %18
%161 = fmul double -4.800000e-01, %160
%162 = load double, double* %22
%163 = load double, double* %12
%164 = fmul double 4.800000e-01, %163
%165 = load double, double* %27
%166 = fmul double %164, %165
%167 = load double, double* %8
%168 = fmul double %166, %167
%169 = fneg double %168
%170 = call double @llvm.fmuladd.f64(double %161, double %162, double %169)
%171 = load double*, double** %3
%172 = getelementptr inbounds double, double* %171, i64 13
store double %170, double* %172
%173 = load double*, double** %3
%174 = getelementptr inbounds double, double* %173, i64 14
store double 0.000000e+00, double* %174
%175 = load double, double* %21
%176 = fmul double -4.800000e-01, %175
%177 = load double, double* %22
%178 = load double, double* %13
%179 = fmul double 4.800000e-01, %178
%180 = load double, double* %27
%181 = fmul double %179, %180
%182 = load double, double* %8
%183 = fmul double %181, %182
%184 = call double @llvm.fmuladd.f64(double %176, double %177, double %183)
%185 = load double*, double** %3
%186 = getelementptr inbounds double, double* %185, i64 15
store double %184, double* %186
%187 = load double*, double** %3
%188 = getelementptr inbounds double, double* %187, i64 16
store double 0.000000e+00, double* %188
%189 = load double, double* %23
%190 = fmul double 4.800000e-01, %189
%191 = load double, double* %14
%192 = fmul double %190, %191
%193 = load double, double* %8
%194 = fmul double %192, %193
%195 = load double*, double** %3
%196 = getelementptr inbounds double, double* %195, i64 17
store double %194, double* %196
%197 = load double*, double** %3
%198 = getelementptr inbounds double, double* %197, i64 18
store double 0.000000e+00, double* %198
%199 = load double, double* %6
%200 = fmul double 4.800000e-01, %199
%201 = load double, double* %9
%202 = load double, double* %23
%203 = fmul double 4.800000e-01, %202
%204 = load double, double* %8
%205 = fmul double %203, %204
%206 = fneg double %205
%207 = call double @llvm.fmuladd.f64(double %200, double %201, double %206)
store double %207, double* %24
%208 = load double, double* %13
%209 = load double, double* %24
%210 = load double, double* %16
%211 = fmul double 4.800000e-01, %210
%212 = load double, double* %9
%213 = fmul double %211, %212
%214 = fneg double %213
%215 = call double @llvm.fmuladd.f64(double %208, double %209, double %214)
%216 = load double*, double** %3
%217 = getelementptr inbounds double, double* %216, i64 19
store double %215, double* %217
%218 = load double*, double** %3
%219 = getelementptr inbounds double, double* %218, i64 20
store double 0.000000e+00, double* %219
%220 = load double, double* %12
%221 = load double, double* %24
%222 = load double, double* %15
%223 = fmul double 4.800000e-01, %222
%224 = load double, double* %9
%225 = fmul double %223, %224
%226 = call double @llvm.fmuladd.f64(double %220, double %221, double %225)
%227 = load double*, double** %3
%228 = getelementptr inbounds double, double* %227, i64 21
store double %226, double* %228
%229 = load double*, double** %3
%230 = getelementptr inbounds double, double* %229, i64 22
store double 0.000000e+00, double* %230
%231 = load double, double* %19
%232 = fmul double -4.800000e-01, %231
%233 = load double, double* %9
%234 = load double, double* %25
%235 = fmul double 4.800000e-01, %234
%236 = load double, double* %8
%237 = fmul double %235, %236
%238 = fneg double %237
%239 = call double @llvm.fmuladd.f64(double %232, double %233, double %238)
%240 = load double*, double** %3
%241 = getelementptr inbounds double, double* %240, i64 23
store double %239, double* %241
%242 = load double*, double** %3
%243 = getelementptr inbounds double, double* %242, i64 24
store double 0.000000e+00, double* %243
%244 = load double*, double** %3
%245 = getelementptr inbounds double, double* %244, i64 25
store double 0.000000e+00, double* %245
%246 = load double*, double** %3
%247 = getelementptr inbounds double, double* %246, i64 26
store double 0.000000e+00, double* %247
%248 = load double*, double** %3
%249 = getelementptr inbounds double, double* %248, i64 27
store double 0.000000e+00, double* %249
%250 = load double*, double** %3
%251 = getelementptr inbounds double, double* %250, i64 28
store double 0.000000e+00, double* %251
%252 = load double*, double** %3
%253 = getelementptr inbounds double, double* %252, i64 29
store double 0.000000e+00, double* %253
%254 = load double*, double** %3
%255 = getelementptr inbounds double, double* %254, i64 30
store double 0.000000e+00, double* %255
%256 = load double*, double** %3
%257 = getelementptr inbounds double, double* %256, i64 31
store double 0.000000e+00, double* %257
%258 = load double*, double** %3
%259 = getelementptr inbounds double, double* %258, i64 32
store double 0.000000e+00, double* %259
%260 = load double*, double** %3
%261 = getelementptr inbounds double, double* %260, i64 33
store double 0.000000e+00, double* %261
%262 = load double*, double** %3
%263 = getelementptr inbounds double, double* %262, i64 34
store double 0.000000e+00, double* %263
%264 = load double*, double** %3
%265 = getelementptr inbounds double, double* %264, i64 35
store double 0.000000e+00, double* %265
%266 = load double*, double** %3
%267 = getelementptr inbounds double, double* %266, i64 36
store double 0.000000e+00, double* %267
%268 = load double*, double** %3
%269 = getelementptr inbounds double, double* %268, i64 37
store double 0.000000e+00, double* %269
%270 = load double*, double** %3
%271 = getelementptr inbounds double, double* %270, i64 38
store double 0.000000e+00, double* %271
%272 = load double*, double** %3
%273 = getelementptr inbounds double, double* %272, i64 39
store double 0.000000e+00, double* %273
%274 = load double*, double** %3
%275 = getelementptr inbounds double, double* %274, i64 40
store double 0.000000e+00, double* %275
%276 = load double*, double** %3
%277 = getelementptr inbounds double, double* %276, i64 41
store double 0.000000e+00, double* %277
ret void
}

LLVM IR (-O2):
define void @ContactJacobian(double* writeonly %0, double* nocapture %1) {
%3 = load double, double* %1
%4 = tail call double @sin(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 = fmul double %10, %13
%15 = getelementptr inbounds double, double* %1, i64 3
%16 = load double, double* %15
%17 = tail call double @sin(double %16)
%18 = tail call double @cos(double %16)
%19 = tail call double @llvm.fmuladd.f64(double %18, double -4.800000e-01, double -4.500000e-01)
%20 = fmul double %14, 4.800000e-01
%21 = fneg double %7
%22 = fmul double %19, %21
%23 = tail call double @llvm.fmuladd.f64(double %20, double %17, double %22)
%24 = tail call double @cos(double %3)
%25 = tail call double @sin(double %12)
%26 = fmul double %24, %25
%27 = fneg double %4
%28 = fmul double %26, 4.800000e-01
%29 = fneg double %28
%30 = fmul double %17, %29
%31 = tail call double @llvm.fmuladd.f64(double %27, double %23, double %30)
%32 = getelementptr inbounds double, double* %0, i64 1
store double %31, double* %32
%33 = fmul double %24, 4.500000e-01
%34 = fmul double %7, %33
%35 = getelementptr inbounds double, double* %0, i64 2
store double %34, double* %35
%36 = fmul double %4, %25
%37 = fmul double %36, -4.800000e-01
%38 = fmul double %17, %37
%39 = tail call double @llvm.fmuladd.f64(double %24, double %23, double %38)
%40 = getelementptr inbounds double, double* %0, i64 3
store double %39, double* %40
%41 = getelementptr inbounds double, double* %0, i64 4
%42 = fmul double %10, %24
%43 = getelementptr inbounds double, double* %0, i64 6
%44 = bitcast double* %41 to i8*
%45 = fmul double %7, %13
%46 = fmul double %45, -4.800000e-01
%47 = fneg double %10
%48 = fmul double %19, %47
%49 = tail call double @llvm.fmuladd.f64(double %46, double %17, double %48)
%50 = insertelement <2 x double> poison, double %42, i64 0
%51 = insertelement <2 x double> %50, double %24, i64 1
%52 = insertelement <2 x double> <double 4.500000e-01, double poison>, double %49, i64 1
%53 = fmul <2 x double> %51, %52
%54 = bitcast double* %43 to <2 x double>*
store <2 x double> %53, <2 x double>* %54
%55 = fmul double %4, %10
%56 = getelementptr inbounds double, double* %0, i64 8
%57 = insertelement <2 x double> poison, double %55, i64 0
%58 = insertelement <2 x double> %57, double %4, i64 1
%59 = fmul <2 x double> %58, %52
%60 = bitcast double* %56 to <2 x double>*
store <2 x double> %59, <2 x double>* %60
%61 = fmul double %7, -4.500000e-01
%62 = getelementptr inbounds double, double* %0, i64 10
store double %61, double* %62
%63 = fneg double %23
%64 = getelementptr inbounds double, double* %0, i64 11
store double %63, double* %64
%65 = getelementptr inbounds double, double* %0, i64 12
store double 0.000000e+00, double* %65
%66 = fmul double %17, %25
%67 = fmul double %42, -4.800000e-01
%68 = fmul double %4, -4.800000e-01
%69 = fmul double %68, %13
%70 = fmul double %69, %17
%71 = tail call double @llvm.fmuladd.f64(double %67, double %66, double %70)
%72 = getelementptr inbounds double, double* %0, i64 13
store double %71, double* %72
%73 = getelementptr inbounds double, double* %0, i64 14
store double 0.000000e+00, double* %73
%74 = fmul double %55, -4.800000e-01
%75 = fmul double %24, 4.800000e-01
%76 = fmul double %13, %75
%77 = fmul double %17, %76
%78 = tail call double @llvm.fmuladd.f64(double %74, double %66, double %77)
%79 = getelementptr inbounds double, double* %0, i64 15
store double %78, double* %79
%80 = getelementptr inbounds double, double* %0, i64 16
store double 0.000000e+00, double* %80
%81 = fmul double %7, 4.800000e-01
%82 = fmul double %81, %25
%83 = fmul double %17, %82
%84 = getelementptr inbounds double, double* %0, i64 17
store double %83, double* %84
%85 = getelementptr inbounds double, double* %0, i64 18
store double 0.000000e+00, double* %85
%86 = fneg double %81
%87 = fmul double %17, %86
%88 = tail call double @llvm.fmuladd.f64(double %20, double %18, double %87)
%89 = fmul double %18, %37
%90 = tail call double @llvm.fmuladd.f64(double %24, double %88, double %89)
%91 = getelementptr inbounds double, double* %0, i64 19
store double %90, double* %91
%92 = getelementptr inbounds double, double* %0, i64 20
store double 0.000000e+00, double* %92
%93 = fmul double %18, %28
%94 = tail call double @llvm.fmuladd.f64(double %4, double %88, double %93)
%95 = getelementptr inbounds double, double* %0, i64 21
store double %94, double* %95
%96 = getelementptr inbounds double, double* %0, i64 22
store double 0.000000e+00, double* %96
%97 = fmul double %10, -4.800000e-01
%98 = fmul double %97, %17
%99 = tail call double @llvm.fmuladd.f64(double %46, double %18, double %98)
%100 = getelementptr inbounds double, double* %0, i64 23
store double %99, double* %100
%101 = getelementptr inbounds double, double* %0, i64 24
%102 = bitcast double* %101 to i8*
ret void
}