user: Please show me the C implementation that matches the assembly code listed below:

```asm
<Quaternion_RungeKutta4>:
  endbr64
  push   %r15
  push   %r14
  push   %r13
  mov    %rsi,%r13
  push   %r12
  push   %rbp
  mov    %rdi,%rbp
  push   %rbx
  mov    %rdx,%rbx
  mov    %rsi,%rdx
  mov    %rdi,%rsi
  sub    $0x98,%rsp
  mov    %ecx,0x1c(%rsp)
  lea    0x20(%rsp),%r15
  lea    0x70(%rsp),%r12
  mov    %r15,%rdi
  lea    0x40(%rsp),%r14
  mov    %fs:0x28,%rax
  mov    %rax,0x88(%rsp)
  xor    %eax,%eax
  call   <Quaternion_Multiply@plt>
  movss  D84(%rip),%xmm0
  mov    %r15,%rsi
  mov    %r15,%rdi
  call   <Quaternion_Scalar@plt>
  movss  D84(%rip),%xmm0
  mulss  (%rbx),%xmm0
  mov    %r15,%rsi
  mov    %r12,%rdi
  call   <Quaternion_Scalar@plt>
  mov    %r12,%rdx
  mov    %rbp,%rsi
  mov    %r12,%rdi
  call   <Quaternion_Add@plt>
  lea    0x30(%rsp),%r8
  mov    %r13,%rdx
  mov    %r12,%rsi
  mov    %r8,%rdi
  mov    %r8,0x8(%rsp)
  call   <Quaternion_Multiply@plt>
  mov    0x8(%rsp),%r8
  movss  D84(%rip),%xmm0
  mov    %r8,%rsi
  mov    %r8,%rdi
  call   <Quaternion_Scalar@plt>
  movss  D84(%rip),%xmm0
  mulss  (%rbx),%xmm0
  mov    %r12,%rdi
  mov    0x8(%rsp),%r8
  mov    %r8,%rsi
  mov    %r8,0x10(%rsp)
  call   <Quaternion_Scalar@plt>
  mov    %r12,%rdx
  mov    %rbp,%rsi
  mov    %r12,%rdi
  call   <Quaternion_Add@plt>
  mov    %r13,%rdx
  mov    %r12,%rsi
  mov    %r14,%rdi
  call   <Quaternion_Multiply@plt>
  movss  D84(%rip),%xmm0
  mov    %r14,%rsi
  mov    %r14,%rdi
  call   <Quaternion_Scalar@plt>
  movss  (%rbx),%xmm0
  mov    %r14,%rsi
  mov    %r12,%rdi
  call   <Quaternion_Scalar@plt>
  mov    %r12,%rdx
  mov    %rbp,%rsi
  mov    %r12,%rdi
  call   <Quaternion_Add@plt>
  lea    0x50(%rsp),%r9
  mov    %r13,%rdx
  mov    %r12,%rsi
  mov    %r9,%rdi
  mov    %r9,0x8(%rsp)
  lea    0x60(%rsp),%r13
  call   <Quaternion_Multiply@plt>
  mov    0x8(%rsp),%r9
  movss  D84(%rip),%xmm0
  mov    %r9,%rsi
  mov    %r9,%rdi
  call   <Quaternion_Scalar@plt>
  movss  D22(%rip),%xmm0
  mov    0x10(%rsp),%rsi
  mov    %r12,%rdi
  call   <Quaternion_Scalar@plt>
  mov    %r12,%rdx
  mov    %r15,%rsi
  mov    %r13,%rdi
  call   <Quaternion_Add@plt>
  movss  D22(%rip),%xmm0
  mov    %r14,%rsi
  mov    %r12,%rdi
  call   <Quaternion_Scalar@plt>
  mov    %r12,%rdx
  mov    %r13,%rsi
  mov    %r13,%rdi
  call   <Quaternion_Add@plt>
  mov    0x8(%rsp),%rdx
  mov    %r13,%rsi
  mov    %r13,%rdi
  call   <Quaternion_Add@plt>
  mov    %r13,%rsi
  mov    %r13,%rdi
  movss  (%rbx),%xmm0
  divss  D43(%rip),%xmm0
  call   <Quaternion_Scalar@plt>
  mov    %r13,%rdx
  mov    %rbp,%rsi
  mov    %rbp,%rdi
  call   <Quaternion_Add@plt>
  mov    0x1c(%rsp),%ecx
  test   %ecx,%ecx
  jne    L5
L29:
  mov    0x88(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L9
  add    $0x98,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  pop    %r15
  ret
  nopw   0x0(%rax,%rax,1)
L5:
  mov    %rbp,%rdi
  call   <Quaternion_Normalize@plt>
  jmp    L29
L9:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: parse_data
arguments: tag: D84
type: byte[4]
name: parse_data
arguments: tag: D22
type: byte[4]
name: parse_data
arguments: tag: D43
type: byte[4]

tool: {"D84": [0x00,0x00,0x00,0x3f]}

tool: {"D22": [0x00,0x00,0x00,0x40]}

tool: {"D43": [0x00,0x00,0xc0,0x40]}

assistant: ```c
void Quaternion_RungeKutta4(float *q, float *w, float *dt, int normalize) {
  float half = 0.5f;
  float two = 2.0f;
  float qw[4], k2[4], k3[4], k4[4];
  float tmpq[4], tmpk[4];
  Quaternion_Multiply(qw, q, w);
  Quaternion_Scalar(qw, qw, half);
  Quaternion_Scalar(tmpk, qw, *dt * half);
  Quaternion_Add(tmpk, q, tmpk);
  Quaternion_Multiply(k2, tmpk, w);
  Quaternion_Scalar(k2, k2, half);
  Quaternion_Scalar(tmpk, k2, *dt * half);
  Quaternion_Add(tmpk, q, tmpk);
  Quaternion_Multiply(k3, tmpk, w);
  Quaternion_Scalar(k3, k3, half);
  Quaternion_Scalar(tmpk, k3, *dt);
  Quaternion_Add(tmpk, q, tmpk);
  Quaternion_Multiply(k4, tmpk, w);
  Quaternion_Scalar(k4, k4, half);
  Quaternion_Scalar(tmpk, k2, two);
  Quaternion_Add(tmpq, qw, tmpk);
  Quaternion_Scalar(tmpk, k3, two);
  Quaternion_Add(tmpq, tmpq, tmpk);
  Quaternion_Add(tmpq, tmpq, k4);
  Quaternion_Scalar(tmpq, tmpq, *dt / 6.0f);
  Quaternion_Add(q, q, tmpq);
  if (normalize) {
    Quaternion_Normalize(q);
  }
}
```