user: 下面的汇编指令对应的C源代码是什么：

```asm
<vl_rodrigues>:
  endbr64
  push   %r14
  push   %r13
  push   %r12
  push   %rbp
  push   %rbx
  add    $0xffffffffffffff80,%rsp
  mov    %rdi,%rbp
  mov    %rsi,%rbx
  mov    (%rdx),%r14
  mov    0x8(%rdx),%r13
  mov    0x10(%rdx),%r12
  movq   %r14,%xmm0
  mulsd  %xmm0,%xmm0
  movq   %r13,%xmm1
  mulsd  %xmm1,%xmm1
  addsd  %xmm1,%xmm0
  movq   %r12,%xmm1
  mulsd  %xmm1,%xmm1
  addsd  %xmm1,%xmm0
  pxor   %xmm1,%xmm1
  ucomisd %xmm0,%xmm1
  ja     L26
  sqrtsd %xmm0,%xmm0
  movsd  %xmm0,0x8(%rsp)
L59:
  movsd  D16(%rip),%xmm0
  comisd 0x8(%rsp),%xmm0
  ja     L45
  lea    0x78(%rsp),%rdi
  lea    0x70(%rsp),%rsi
  movsd  0x8(%rsp),%xmm0
  call   <sincos@plt>
  movsd  0x70(%rsp),%xmm15
  movsd  0x78(%rsp),%xmm4
  movq   %r14,%xmm3
  movsd  0x8(%rsp),%xmm6
  divsd  %xmm6,%xmm3
  movq   %r13,%xmm0
  divsd  %xmm6,%xmm0
  movq   %r12,%xmm2
  divsd  %xmm6,%xmm2
  movapd %xmm3,%xmm5
  mulsd  %xmm3,%xmm5
  movapd %xmm5,%xmm6
  movapd %xmm3,%xmm11
  mulsd  %xmm0,%xmm11
  movapd %xmm3,%xmm10
  mulsd  %xmm2,%xmm10
  movapd %xmm10,%xmm14
  movapd %xmm0,%xmm5
  mulsd  %xmm0,%xmm5
  movapd %xmm0,%xmm7
  mulsd  %xmm2,%xmm7
  movsd  %xmm7,0x10(%rsp)
  movapd %xmm2,%xmm12
  mulsd  %xmm2,%xmm12
  movapd %xmm12,%xmm10
  movsd  D22(%rip),%xmm8
  movapd %xmm8,%xmm1
  subsd  %xmm15,%xmm1
  movsd  %xmm5,0x20(%rsp)
  movapd %xmm5,%xmm7
  addsd  %xmm12,%xmm7
  movapd %xmm7,%xmm9
  mulsd  %xmm1,%xmm9
  movapd %xmm8,%xmm5
  subsd  %xmm9,%xmm5
  movsd  %xmm5,0x0(%rbp)
  movapd %xmm2,%xmm9
  mulsd  %xmm4,%xmm9
  movapd %xmm11,%xmm5
  mulsd  %xmm1,%xmm5
  movapd %xmm9,%xmm13
  addsd  %xmm5,%xmm13
  movsd  %xmm13,0x8(%rbp)
  movapd %xmm4,%xmm13
  xorpd  D35(%rip),%xmm13
  mulsd  %xmm0,%xmm13
  movsd  %xmm14,0x28(%rsp)
  mulsd  %xmm1,%xmm14
  movapd %xmm14,%xmm12
  movapd %xmm13,%xmm14
  addsd  %xmm12,%xmm14
  movsd  %xmm14,0x10(%rbp)
  subsd  %xmm9,%xmm5
  movsd  %xmm5,0x18(%rbp)
  movsd  %xmm10,0x40(%rsp)
  movapd %xmm10,%xmm5
  addsd  %xmm6,%xmm5
  movapd %xmm5,%xmm9
  mulsd  %xmm1,%xmm9
  movapd %xmm8,%xmm14
  subsd  %xmm9,%xmm14
  movsd  %xmm14,0x20(%rbp)
  movapd %xmm3,%xmm14
  mulsd  %xmm4,%xmm14
  movsd  0x10(%rsp),%xmm9
  mulsd  %xmm1,%xmm9
  movapd %xmm14,%xmm10
  addsd  %xmm9,%xmm10
  movsd  %xmm10,0x28(%rbp)
  subsd  %xmm13,%xmm12
  movsd  %xmm12,0x30(%rbp)
  subsd  %xmm14,%xmm9
  movsd  %xmm9,0x38(%rbp)
  movsd  0x20(%rsp),%xmm12
  addsd  %xmm6,%xmm12
  movapd %xmm12,%xmm10
  mulsd  %xmm1,%xmm10
  subsd  %xmm10,%xmm8
  movsd  %xmm8,0x40(%rbp)
  test   %rbx,%rbx
  je     L16
  movapd %xmm4,%xmm8
  movsd  0x8(%rsp),%xmm14
  divsd  %xmm14,%xmm8
  divsd  %xmm14,%xmm1
  movapd %xmm15,%xmm14
  movsd  %xmm8,0x18(%rsp)
  subsd  %xmm8,%xmm14
  movapd %xmm1,%xmm13
  addsd  %xmm1,%xmm13
  subsd  %xmm13,%xmm4
  movq   D35(%rip),%xmm8
  movapd %xmm4,%xmm10
  xorpd  %xmm8,%xmm10
  movapd %xmm10,%xmm15
  mulsd  %xmm7,%xmm15
  movsd  %xmm15,0x48(%rsp)
  movapd %xmm15,%xmm7
  mulsd  %xmm3,%xmm7
  movsd  %xmm7,(%rbx)
  movapd %xmm0,%xmm15
  mulsd  %xmm1,%xmm15
  movsd  %xmm14,0x8(%rsp)
  mulsd  0x28(%rsp),%xmm14
  movapd %xmm15,%xmm7
  addsd  %xmm14,%xmm7
  movapd %xmm7,%xmm10
  movapd %xmm11,%xmm7
  mulsd  %xmm4,%xmm7
  movsd  %xmm7,0x30(%rsp)
  movapd %xmm7,%xmm9
  mulsd  %xmm3,%xmm9
  movsd  %xmm10,0x50(%rsp)
  movapd %xmm10,%xmm7
  addsd  %xmm9,%xmm7
  movsd  %xmm7,0x8(%rbx)
  movapd %xmm2,%xmm10
  mulsd  %xmm1,%xmm10
  movapd %xmm10,%xmm7
  movapd %xmm11,%xmm10
  mulsd  0x8(%rsp),%xmm10
  movapd %xmm7,%xmm11
  movsd  %xmm10,0x58(%rsp)
  subsd  %xmm10,%xmm11
  movsd  0x28(%rsp),%xmm10
  mulsd  %xmm4,%xmm10
  movsd  %xmm10,0x38(%rsp)
  mulsd  %xmm3,%xmm10
  movsd  %xmm11,0x60(%rsp)
  addsd  %xmm10,%xmm11
  movsd  %xmm11,0x10(%rbx)
  subsd  %xmm14,%xmm15
  movsd  %xmm15,0x68(%rsp)
  addsd  %xmm15,%xmm9
  movsd  %xmm9,0x18(%rbx)
  movapd %xmm13,%xmm14
  xorpd  %xmm8,%xmm14
  movsd  %xmm14,0x28(%rsp)
  movapd %xmm14,%xmm13
  mulsd  %xmm3,%xmm13
  mulsd  %xmm4,%xmm5
  movapd %xmm5,%xmm9
  mulsd  %xmm3,%xmm9
  movapd %xmm13,%xmm11
  subsd  %xmm9,%xmm11
  movsd  %xmm11,0x20(%rbx)
  mulsd  0x8(%rsp),%xmm6
  movsd  0x10(%rsp),%xmm9
  mulsd  %xmm4,%xmm9
  movapd %xmm9,%xmm11
  mulsd  %xmm3,%xmm11
  movsd  0x18(%rsp),%xmm14
  movapd %xmm14,%xmm15
  addsd  %xmm6,%xmm15
  addsd  %xmm11,%xmm15
  movsd  %xmm15,0x28(%rbx)
  addsd  0x58(%rsp),%xmm7
  addsd  %xmm7,%xmm10
  movsd  %xmm10,0x30(%rbx)
  movapd %xmm14,%xmm15
  xorpd  %xmm8,%xmm15
  movapd %xmm15,%xmm10
  subsd  %xmm6,%xmm10
  addsd  %xmm11,%xmm10
  movsd  %xmm10,0x38(%rbx)
  mulsd  %xmm12,%xmm4
  movapd %xmm4,%xmm6
  mulsd  %xmm3,%xmm6
  subsd  %xmm6,%xmm13
  movsd  %xmm13,0x40(%rbx)
  movsd  0x28(%rsp),%xmm6
  mulsd  %xmm0,%xmm6
  movapd %xmm6,%xmm12
  movsd  0x48(%rsp),%xmm6
  xorpd  %xmm8,%xmm6
  movapd %xmm6,%xmm13
  mulsd  %xmm0,%xmm13
  movapd %xmm13,%xmm10
  movapd %xmm12,%xmm13
  subsd  %xmm10,%xmm13
  movsd  %xmm13,0x48(%rbx)
  mulsd  %xmm3,%xmm1
  movsd  0x10(%rsp),%xmm3
  movsd  0x8(%rsp),%xmm14
  mulsd  %xmm14,%xmm3
  movsd  %xmm3,0x10(%rsp)
  movapd %xmm3,%xmm10
  addsd  %xmm1,%xmm10
  movsd  0x30(%rsp),%xmm13
  mulsd  %xmm0,%xmm13
  movapd %xmm13,%xmm11
  movapd %xmm10,%xmm3
  addsd  %xmm13,%xmm3
  movsd  %xmm3,0x50(%rbx)
  movsd  0x20(%rsp),%xmm13
  mulsd  %xmm14,%xmm13
  movapd %xmm13,%xmm3
  movsd  0x38(%rsp),%xmm13
  mulsd  %xmm0,%xmm13
  movapd %xmm15,%xmm14
  subsd  %xmm3,%xmm14
  addsd  %xmm13,%xmm14
  movsd  %xmm14,0x58(%rbx)
  subsd  0x10(%rsp),%xmm1
  addsd  %xmm1,%xmm11
  movsd  %xmm11,0x60(%rbx)
  movapd %xmm5,%xmm14
  xorpd  %xmm8,%xmm14
  movapd %xmm14,%xmm11
  mulsd  %xmm0,%xmm11
  movsd  %xmm11,0x68(%rbx)
  movapd %xmm9,%xmm14
  mulsd  %xmm0,%xmm14
  movapd %xmm14,%xmm11
  addsd  %xmm14,%xmm7
  movsd  %xmm7,0x70(%rbx)
  movsd  0x18(%rsp),%xmm7
  addsd  %xmm7,%xmm3
  addsd  %xmm13,%xmm3
  movsd  %xmm3,0x78(%rbx)
  addsd  0x60(%rsp),%xmm11
  movsd  %xmm11,0x80(%rbx)
  mulsd  %xmm4,%xmm0
  movapd %xmm12,%xmm3
  subsd  %xmm0,%xmm3
  movsd  %xmm3,0x88(%rbx)
  movsd  0x28(%rsp),%xmm14
  mulsd  %xmm2,%xmm14
  mulsd  %xmm2,%xmm6
  movapd %xmm14,%xmm0
  subsd  %xmm6,%xmm0
  movsd  %xmm0,0x90(%rbx)
  movsd  0x40(%rsp),%xmm3
  mulsd  0x8(%rsp),%xmm3
  movsd  0x30(%rsp),%xmm6
  mulsd  %xmm2,%xmm6
  addsd  %xmm3,%xmm7
  movapd %xmm7,%xmm0
  addsd  %xmm6,%xmm0
  movsd  %xmm0,0x98(%rbx)
  movsd  0x38(%rsp),%xmm7
  mulsd  %xmm2,%xmm7
  addsd  %xmm7,%xmm1
  movsd  %xmm1,0xa0(%rbx)
  movapd %xmm15,%xmm1
  subsd  %xmm3,%xmm1
  movapd %xmm1,%xmm0
  addsd  %xmm6,%xmm0
  movsd  %xmm0,0xa8(%rbx)
  mulsd  %xmm2,%xmm5
  subsd  %xmm5,%xmm14
  movsd  %xmm14,0xb0(%rbx)
  mulsd  %xmm2,%xmm9
  movsd  0x50(%rsp),%xmm0
  addsd  %xmm9,%xmm0
  movsd  %xmm0,0xb8(%rbx)
  addsd  %xmm7,%xmm10
  movsd  %xmm10,0xc0(%rbx)
  movsd  0x68(%rsp),%xmm15
  addsd  %xmm9,%xmm15
  movsd  %xmm15,0xc8(%rbx)
  xorpd  %xmm8,%xmm4
  mulsd  %xmm2,%xmm4
  movsd  %xmm4,0xd0(%rbx)
L16:
  sub    $0xffffffffffffff80,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  ret
L26:
  call   <sqrt@plt>
  movsd  %xmm0,0x8(%rsp)
  jmp    L59
L45:
  movsd  D22(%rip),%xmm0
  movsd  %xmm0,0x0(%rbp)
  movq   $0x0,0x18(%rbp)
  movq   $0x0,0x30(%rbp)
  movq   $0x0,0x8(%rbp)
  movsd  %xmm0,0x20(%rbp)
  movq   $0x0,0x38(%rbp)
  movq   $0x0,0x10(%rbp)
  movq   $0x0,0x28(%rbp)
  movsd  %xmm0,0x40(%rbp)
  test   %rbx,%rbx
  je     L16
  movq   $0x0,(%rbx)
  movq   $0x0,0x48(%rbx)
  movq   $0x0,0x90(%rbx)
  movq   $0x0,0x8(%rbx)
  movq   $0x0,0x50(%rbx)
  movapd %xmm0,%xmm1
  movsd  %xmm0,0x98(%rbx)
  movq   $0x0,0x10(%rbx)
  movsd  D36(%rip),%xmm0
  movsd  %xmm0,0x58(%rbx)
  movq   $0x0,0xa0(%rbx)
  movq   $0x0,0x18(%rbx)
  movq   $0x0,0x60(%rbx)
  movsd  %xmm0,0xa8(%rbx)
  movq   $0x0,0x20(%rbx)
  movq   $0x0,0x68(%rbx)
  movq   $0x0,0xb0(%rbx)
  movsd  %xmm1,0x28(%rbx)
  movq   $0x0,0x70(%rbx)
  movq   $0x0,0xb8(%rbx)
  movq   $0x0,0x30(%rbx)
  movsd  %xmm1,0x78(%rbx)
  movq   $0x0,0xc0(%rbx)
  movsd  %xmm0,0x38(%rbx)
  movq   $0x0,0x80(%rbx)
  movq   $0x0,0xc8(%rbx)
  movq   $0x0,0x40(%rbx)
  movq   $0x0,0x88(%rbx)
  movq   $0x0,0xd0(%rbx)
  jmp    L16
```

tool_calls: name: read_data
arguments: data_label: D16
type: byte[8]
name: read_data
arguments: data_label: D22
type: f64
name: read_data
arguments: data_label: D35
type: f32[4]
name: read_data
arguments: data_label: D36
type: f32[2]

tool: {"D16": [0x8d,0xed,0xb5,0xa0,0xf7,0xc6,0xb0,0x3e]}

tool: D22: 1

tool: {"D35": [0.0,-0.0,0.0,0.0]}

tool: {"D36": [0.0,-1.875]}

assistant: ```c
void vl_rodrigues(double *R_pt, double *dR_pt, const double *om_pt) {
  const double small = 1e-6;
  double th = sqrt(om_pt[(0)] * om_pt[(0)] + om_pt[(1)] * om_pt[(1)] + om_pt[(2)] * om_pt[(2)]);
  if (th < small) {
    R_pt[(0) + 3 * (0)] = 1.0;
    R_pt[(0) + 3 * (1)] = 0.0;
    R_pt[(0) + 3 * (2)] = 0.0;
    R_pt[(1) + 3 * (0)] = 0.0;
    R_pt[(1) + 3 * (1)] = 1.0;
    R_pt[(1) + 3 * (2)] = 0.0;
    R_pt[(2) + 3 * (0)] = 0.0;
    R_pt[(2) + 3 * (1)] = 0.0;
    R_pt[(2) + 3 * (2)] = 1.0;
    if (dR_pt) {
      dR_pt[(0) + 9 * (0)] = 0;
      dR_pt[(0) + 9 * (1)] = 0;
      dR_pt[(0) + 9 * (2)] = 0;
      dR_pt[(1) + 9 * (0)] = 0;
      dR_pt[(1) + 9 * (1)] = 0;
      dR_pt[(1) + 9 * (2)] = 1;
      dR_pt[(2) + 9 * (0)] = 0;
      dR_pt[(2) + 9 * (1)] = -1;
      dR_pt[(2) + 9 * (2)] = 0;
      dR_pt[(3) + 9 * (0)] = 0;
      dR_pt[(3) + 9 * (1)] = 0;
      dR_pt[(3) + 9 * (2)] = -1;
      dR_pt[(4) + 9 * (0)] = 0;
      dR_pt[(4) + 9 * (1)] = 0;
      dR_pt[(4) + 9 * (2)] = 0;
      dR_pt[(5) + 9 * (0)] = 1;
      dR_pt[(5) + 9 * (1)] = 0;
      dR_pt[(5) + 9 * (2)] = 0;
      dR_pt[(6) + 9 * (0)] = 0;
      dR_pt[(6) + 9 * (1)] = 1;
      dR_pt[(6) + 9 * (2)] = 0;
      dR_pt[(7) + 9 * (0)] = -1;
      dR_pt[(7) + 9 * (1)] = 0;
      dR_pt[(7) + 9 * (2)] = 0;
      dR_pt[(8) + 9 * (0)] = 0;
      dR_pt[(8) + 9 * (1)] = 0;
      dR_pt[(8) + 9 * (2)] = 0;
    }
    return;
  }
  {
    double x = om_pt[(0)] / th;
    double y = om_pt[(1)] / th;
    double z = om_pt[(2)] / th;
    double xx = x * x;
    double xy = x * y;
    double xz = x * z;
    double yy = y * y;
    double yz = y * z;
    double zz = z * z;
    const double yx = xy;
    const double zx = xz;
    const double zy = yz;
    double sth = sin(th);
    double cth = cos(th);
    double mcth = 1.0 - cth;
    R_pt[(0) + 3 * (0)] = 1 - mcth * (yy + zz);
    R_pt[(1) + 3 * (0)] = sth * z + mcth * xy;
    R_pt[(2) + 3 * (0)] = -sth * y + mcth * xz;
    R_pt[(0) + 3 * (1)] = -sth * z + mcth * yx;
    R_pt[(1) + 3 * (1)] = 1 - mcth * (zz + xx);
    R_pt[(2) + 3 * (1)] = sth * x + mcth * yz;
    R_pt[(0) + 3 * (2)] = sth * y + mcth * xz;
    R_pt[(1) + 3 * (2)] = -sth * x + mcth * yz;
    R_pt[(2) + 3 * (2)] = 1 - mcth * (xx + yy);
    if (dR_pt) {
      double a = sth / th;
      double b = mcth / th;
      double c = cth - a;
      double d = sth - 2 * b;
      dR_pt[(0) + 9 * (0)] = -d * (yy + zz) * x;
      dR_pt[(1) + 9 * (0)] = b * y + c * zx + d * xy * x;
      dR_pt[(2) + 9 * (0)] = b * z - c * yx + d * xz * x;
      dR_pt[(3) + 9 * (0)] = b * y - c * zx + d * xy * x;
      dR_pt[(4) + 9 * (0)] = -2 * b * x - d * (zz + xx) * x;
      dR_pt[(5) + 9 * (0)] = a + c * xx + d * yz * x;
      dR_pt[(6) + 9 * (0)] = b * z + c * yx + d * zx * x;
      dR_pt[(7) + 9 * (0)] = -a - c * xx + d * zy * x;
      dR_pt[(8) + 9 * (0)] = -2 * b * x - d * (yy + xx) * x;
      dR_pt[(0) + 9 * (1)] = -2 * b * y - d * (yy + zz) * y;
      dR_pt[(1) + 9 * (1)] = b * x + c * zy + d * xy * y;
      dR_pt[(2) + 9 * (1)] = -a - c * yy + d * xz * y;
      dR_pt[(3) + 9 * (1)] = b * x - c * zy + d * xy * y;
      dR_pt[(4) + 9 * (1)] = -d * (zz + xx) * y;
      dR_pt[(5) + 9 * (1)] = b * z + c * xy + d * yz * y;
      dR_pt[(6) + 9 * (1)] = a + c * yy + d * zx * y;
      dR_pt[(7) + 9 * (1)] = b * z - c * xy + d * zy * y;
      dR_pt[(8) + 9 * (1)] = -2 * b * y - d * (yy + xx) * y;
      dR_pt[(0) + 9 * (2)] = -2 * b * z - d * (yy + zz) * z;
      dR_pt[(1) + 9 * (2)] = a + c * zz + d * xy * z;
      dR_pt[(2) + 9 * (2)] = b * x - c * yz + d * xz * z;
      dR_pt[(3) + 9 * (2)] = -a - c * zz + d * xy * z;
      dR_pt[(4) + 9 * (2)] = -2 * b * z - d * (zz + xx) * z;
      dR_pt[(5) + 9 * (2)] = b * y + c * xz + d * yz * z;
      dR_pt[(6) + 9 * (2)] = b * x + c * yz + d * zx * z;
      dR_pt[(7) + 9 * (2)] = b * y - c * xz + d * zy * z;
      dR_pt[(8) + 9 * (2)] = -d * (yy + xx) * z;
    }
  }
}
```