user: 这段汇编代码用C语言表示是什么样的?

```asm
<vl_rodrigues>:
  endbr64
  push   %rbp
  mov    %rdi,%rbp
  push   %rbx
  mov    %rsi,%rbx
  sub    $0x78,%rsp
  movsd  (%rdx),%xmm1
  movsd  0x8(%rdx),%xmm2
  movsd  0x10(%rdx),%xmm3
  movapd %xmm1,%xmm0
  movapd %xmm2,%xmm4
  mulsd  %xmm2,%xmm4
  mulsd  %xmm1,%xmm0
  addsd  %xmm4,%xmm0
  movapd %xmm3,%xmm4
  mulsd  %xmm3,%xmm4
  addsd  %xmm4,%xmm0
  pxor   %xmm4,%xmm4
  ucomisd %xmm0,%xmm4
  ja     L16
  sqrtsd %xmm0,%xmm0
L7:
  movsd  D72(%rip),%xmm4
  comisd %xmm0,%xmm4
  ja     L27
  lea    0x68(%rsp),%rdi
  lea    0x60(%rsp),%rsi
  movsd  %xmm3,0x20(%rsp)
  movsd  %xmm2,0x18(%rsp)
  movsd  %xmm1,0x10(%rsp)
  movsd  %xmm0,0x8(%rsp)
  call   <sincos@plt>
  movsd  0x8(%rsp),%xmm0
  movsd  0x18(%rsp),%xmm2
  movsd  0x20(%rsp),%xmm3
  movsd  0x10(%rsp),%xmm1
  divsd  %xmm0,%xmm2
  movsd  0x60(%rsp),%xmm6
  movsd  0x68(%rsp),%xmm4
  movapd %xmm4,%xmm11
  xorpd  D30(%rip),%xmm11
  divsd  %xmm0,%xmm3
  mulsd  %xmm2,%xmm11
  movapd %xmm2,%xmm7
  movapd %xmm2,%xmm15
  mulsd  %xmm2,%xmm15
  movsd  %xmm15,0x18(%rsp)
  divsd  %xmm0,%xmm1
  mulsd  %xmm3,%xmm7
  movapd %xmm3,%xmm14
  mulsd  %xmm3,%xmm14
  movsd  %xmm7,0x8(%rsp)
  movsd  D15(%rip),%xmm7
  addsd  %xmm14,%xmm15
  movsd  %xmm14,0x20(%rsp)
  movapd %xmm7,%xmm5
  movapd %xmm7,%xmm10
  subsd  %xmm6,%xmm5
  movapd %xmm15,%xmm9
  mulsd  %xmm5,%xmm9
  subsd  %xmm9,%xmm10
  movsd  %xmm10,0x0(%rbp)
  movapd %xmm3,%xmm10
  movapd %xmm1,%xmm13
  movapd %xmm1,%xmm12
  movapd %xmm1,%xmm8
  mulsd  %xmm2,%xmm13
  mulsd  %xmm4,%xmm10
  mulsd  %xmm3,%xmm12
  mulsd  %xmm1,%xmm8
  movapd %xmm13,%xmm9
  mulsd  %xmm5,%xmm9
  movapd %xmm10,%xmm14
  movsd  %xmm12,0x28(%rsp)
  addsd  %xmm9,%xmm10
  subsd  %xmm14,%xmm9
  movsd  0x20(%rsp),%xmm14
  addsd  %xmm8,%xmm14
  movsd  %xmm10,0x8(%rbp)
  movapd %xmm12,%xmm10
  movapd %xmm11,%xmm12
  mulsd  %xmm5,%xmm10
  movsd  %xmm9,0x18(%rbp)
  movapd %xmm14,%xmm9
  movsd  %xmm14,0x38(%rsp)
  mulsd  %xmm5,%xmm9
  addsd  %xmm10,%xmm12
  subsd  %xmm11,%xmm10
  movsd  0x18(%rsp),%xmm11
  addsd  %xmm8,%xmm11
  movsd  %xmm12,0x10(%rbp)
  movapd %xmm7,%xmm12
  subsd  %xmm9,%xmm12
  movsd  0x8(%rsp),%xmm9
  movsd  %xmm10,0x30(%rbp)
  mulsd  %xmm5,%xmm9
  movsd  %xmm12,0x20(%rbp)
  movapd %xmm1,%xmm12
  mulsd  %xmm4,%xmm12
  movapd %xmm12,%xmm14
  addsd  %xmm9,%xmm12
  subsd  %xmm14,%xmm9
  movapd %xmm11,%xmm14
  movsd  %xmm12,0x28(%rbp)
  movapd %xmm11,%xmm12
  mulsd  %xmm5,%xmm12
  movsd  %xmm9,0x38(%rbp)
  subsd  %xmm12,%xmm7
  movsd  %xmm7,0x40(%rbp)
  test   %rbx,%rbx
  je     L5
  divsd  %xmm0,%xmm5
  movapd %xmm4,%xmm7
  divsd  %xmm0,%xmm7
  movapd %xmm5,%xmm0
  addsd  %xmm5,%xmm0
  subsd  %xmm0,%xmm4
  xorpd  D30(%rip),%xmm0
  movapd %xmm4,%xmm12
  xorpd  D30(%rip),%xmm12
  mulsd  %xmm12,%xmm15
  movapd %xmm15,%xmm12
  mulsd  %xmm1,%xmm12
  movsd  %xmm12,(%rbx)
  movapd %xmm2,%xmm12
  subsd  %xmm7,%xmm6
  mulsd  %xmm5,%xmm12
  movsd  %xmm7,0x10(%rsp)
  mulsd  %xmm6,%xmm8
  movapd %xmm12,%xmm11
  movsd  0x28(%rsp),%xmm12
  movapd %xmm11,%xmm7
  mulsd  %xmm6,%xmm12
  addsd  %xmm12,%xmm7
  movapd %xmm12,%xmm10
  subsd  %xmm10,%xmm11
  movsd  0x38(%rsp),%xmm10
  mulsd  %xmm4,%xmm10
  movapd %xmm7,%xmm12
  movapd %xmm13,%xmm7
  mulsd  %xmm4,%xmm7
  movsd  %xmm12,0x40(%rsp)
  mulsd  %xmm6,%xmm13
  movsd  %xmm11,0x58(%rsp)
  movsd  %xmm7,0x30(%rsp)
  mulsd  %xmm1,%xmm7
  movapd %xmm7,%xmm9
  movapd %xmm12,%xmm7
  movapd %xmm3,%xmm12
  mulsd  %xmm5,%xmm12
  addsd  %xmm9,%xmm7
  addsd  %xmm11,%xmm9
  movapd %xmm0,%xmm11
  mulsd  %xmm1,%xmm11
  movsd  %xmm7,0x8(%rbx)
  movsd  %xmm9,0x18(%rbx)
  movapd %xmm10,%xmm9
  mulsd  %xmm1,%xmm9
  movapd %xmm12,%xmm7
  movapd %xmm13,%xmm12
  movapd %xmm7,%xmm13
  movsd  %xmm12,0x48(%rsp)
  addsd  0x48(%rsp),%xmm7
  subsd  %xmm12,%xmm13
  movsd  0x28(%rsp),%xmm12
  movq   %xmm11,%rax
  mulsd  %xmm4,%xmm12
  subsd  %xmm9,%xmm11
  movsd  0x8(%rsp),%xmm9
  movsd  %xmm13,0x50(%rsp)
  mulsd  %xmm4,%xmm9
  movsd  %xmm11,0x20(%rbx)
  mulsd  %xmm14,%xmm4
  movsd  %xmm12,0x28(%rsp)
  mulsd  %xmm1,%xmm12
  movapd %xmm9,%xmm11
  mulsd  %xmm1,%xmm11
  addsd  %xmm12,%xmm13
  addsd  %xmm7,%xmm12
  movsd  %xmm13,0x10(%rbx)
  movsd  0x10(%rsp),%xmm13
  movsd  %xmm12,0x30(%rbx)
  addsd  %xmm8,%xmm13
  addsd  %xmm11,%xmm13
  movsd  %xmm13,0x28(%rbx)
  movsd  0x10(%rsp),%xmm13
  xorpd  D30(%rip),%xmm13
  movapd %xmm13,%xmm12
  subsd  %xmm8,%xmm12
  movapd %xmm4,%xmm8
  mulsd  %xmm1,%xmm8
  mulsd  %xmm5,%xmm1
  movsd  0x8(%rsp),%xmm5
  addsd  %xmm11,%xmm12
  movq   %rax,%xmm11
  mulsd  %xmm6,%xmm5
  subsd  %xmm8,%xmm11
  movapd %xmm0,%xmm8
  movsd  %xmm12,0x38(%rbx)
  mulsd  %xmm2,%xmm8
  mulsd  %xmm3,%xmm0
  movsd  %xmm11,0x40(%rbx)
  movsd  %xmm5,0x38(%rsp)
  movapd %xmm8,%xmm14
  movapd %xmm15,%xmm8
  xorpd  D30(%rip),%xmm8
  movapd %xmm14,%xmm12
  movapd %xmm8,%xmm11
  mulsd  %xmm2,%xmm8
  mulsd  %xmm3,%xmm11
  subsd  %xmm8,%xmm12
  movapd %xmm5,%xmm8
  movsd  0x30(%rsp),%xmm5
  addsd  %xmm1,%xmm8
  mulsd  %xmm2,%xmm5
  movsd  %xmm12,0x48(%rbx)
  movapd %xmm5,%xmm12
  movapd %xmm8,%xmm5
  addsd  %xmm12,%xmm5
  movsd  %xmm5,0x50(%rbx)
  movsd  0x18(%rsp),%xmm5
  subsd  0x38(%rsp),%xmm1
  movsd  0x28(%rsp),%xmm15
  mulsd  %xmm6,%xmm5
  addsd  %xmm1,%xmm12
  mulsd  %xmm2,%xmm15
  mulsd  0x20(%rsp),%xmm6
  movsd  %xmm12,0x60(%rbx)
  movapd %xmm10,%xmm12
  xorpd  D30(%rip),%xmm12
  mulsd  %xmm3,%xmm10
  mulsd  %xmm2,%xmm12
  movsd  %xmm15,0x8(%rsp)
  movapd %xmm13,%xmm15
  subsd  %xmm5,%xmm15
  addsd  0x8(%rsp),%xmm15
  movsd  %xmm15,0x58(%rbx)
  movsd  %xmm12,0x68(%rbx)
  movapd %xmm9,%xmm12
  mulsd  %xmm2,%xmm12
  mulsd  %xmm4,%xmm2
  xorpd  D30(%rip),%xmm4
  mulsd  %xmm3,%xmm9
  mulsd  %xmm3,%xmm4
  addsd  %xmm12,%xmm7
  addsd  0x50(%rsp),%xmm12
  movsd  %xmm7,0x70(%rbx)
  movsd  0x10(%rsp),%xmm7
  movsd  %xmm12,0x80(%rbx)
  movapd %xmm14,%xmm12
  addsd  %xmm7,%xmm5
  addsd  0x8(%rsp),%xmm5
  movsd  %xmm4,0xd0(%rbx)
  subsd  %xmm2,%xmm12
  movapd %xmm0,%xmm2
  addsd  %xmm6,%xmm7
  subsd  %xmm11,%xmm2
  subsd  %xmm10,%xmm0
  movsd  %xmm5,0x78(%rbx)
  movsd  0x30(%rsp),%xmm5
  movsd  %xmm12,0x88(%rbx)
  mulsd  %xmm3,%xmm5
  movsd  %xmm2,0x90(%rbx)
  movapd %xmm7,%xmm2
  movsd  %xmm0,0xb0(%rbx)
  movsd  0x40(%rsp),%xmm0
  addsd  %xmm9,%xmm0
  addsd  0x58(%rsp),%xmm9
  addsd  %xmm5,%xmm2
  movsd  %xmm0,0xb8(%rbx)
  movsd  %xmm9,0xc8(%rbx)
  movsd  %xmm2,0x98(%rbx)
  movsd  0x28(%rsp),%xmm2
  mulsd  %xmm3,%xmm2
  addsd  %xmm2,%xmm1
  addsd  %xmm2,%xmm8
  movsd  %xmm1,0xa0(%rbx)
  movapd %xmm13,%xmm1
  movsd  %xmm8,0xc0(%rbx)
  subsd  %xmm6,%xmm1
  addsd  %xmm5,%xmm1
  movsd  %xmm1,0xa8(%rbx)
L5:
  add    $0x78,%rsp
  pop    %rbx
  pop    %rbp
  ret
  nopl   0x0(%rax,%rax,1)
L27:
  movsd  D15(%rip),%xmm0
  movq   $0x0,0x18(%rbp)
  movq   $0x0,0x30(%rbp)
  movq   $0x0,0x8(%rbp)
  movq   $0x0,0x38(%rbp)
  movq   $0x0,0x10(%rbp)
  movq   $0x0,0x28(%rbp)
  movsd  %xmm0,0x0(%rbp)
  movsd  %xmm0,0x20(%rbp)
  movsd  %xmm0,0x40(%rbp)
  test   %rbx,%rbx
  je     L5
  movsd  D56(%rip),%xmm1
  movsd  %xmm0,0x28(%rbx)
  movq   $0x0,(%rbx)
  movq   $0x0,0x48(%rbx)
  movq   $0x0,0x90(%rbx)
  movq   $0x0,0x8(%rbx)
  movq   $0x0,0x50(%rbx)
  movq   $0x0,0x10(%rbx)
  movq   $0x0,0xa0(%rbx)
  movq   $0x0,0x18(%rbx)
  movq   $0x0,0x60(%rbx)
  movq   $0x0,0x20(%rbx)
  movq   $0x0,0x68(%rbx)
  movq   $0x0,0xb0(%rbx)
  movq   $0x0,0x70(%rbx)
  movq   $0x0,0xb8(%rbx)
  movq   $0x0,0x30(%rbx)
  movq   $0x0,0xc0(%rbx)
  movq   $0x0,0x80(%rbx)
  movq   $0x0,0xc8(%rbx)
  movq   $0x0,0x40(%rbx)
  movq   $0x0,0x88(%rbx)
  movq   $0x0,0xd0(%rbx)
  movsd  %xmm0,0x98(%rbx)
  movsd  %xmm1,0x58(%rbx)
  movsd  %xmm1,0xa8(%rbx)
  movsd  %xmm0,0x78(%rbx)
  movsd  %xmm1,0x38(%rbx)
  add    $0x78,%rsp
  pop    %rbx
  pop    %rbp
  ret
L16:
  movsd  %xmm3,0x18(%rsp)
  movsd  %xmm2,0x10(%rsp)
  movsd  %xmm1,0x8(%rsp)
  call   <sqrt@plt>
  movsd  0x18(%rsp),%xmm3
  movsd  0x10(%rsp),%xmm2
  movsd  0x8(%rsp),%xmm1
  jmp    L7
```

tool_calls: name: parse_data
arguments: label: D72
type_infered: byte[8]
name: parse_data
arguments: label: D30
type_infered: f32[4]
name: parse_data
arguments: label: D15
type_infered: f64
name: parse_data
arguments: label: D56
type_infered: f32[2]

tool: {"D72": [0x8d,0xed,0xb5,0xa0,0xf7,0xc6,0xb0,0x3e]}

tool: {"D30": [0.0,-0.0,0.0,0.0]}

tool: D15: 1

tool: {"D56": [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;
    }
  }
}
```