user: 下面的汇编指令对应的C源代码是什么：

```asm
<vl_rodrigues>:
  endbr64
  push   %rbp
  mov    %rdi,%rbp
  push   %rbx
  mov    %rsi,%rbx
  sub    $0x98,%rsp
  movsd  (%rdx),%xmm2
  movsd  0x8(%rdx),%xmm1
  movsd  0x10(%rdx),%xmm3
  movapd %xmm2,%xmm0
  movapd %xmm1,%xmm4
  mulsd  %xmm1,%xmm4
  mulsd  %xmm2,%xmm0
  addsd  %xmm4,%xmm0
  movapd %xmm3,%xmm4
  mulsd  %xmm3,%xmm4
  addsd  %xmm4,%xmm0
  pxor   %xmm4,%xmm4
  ucomisd %xmm0,%xmm4
  ja     L44
  sqrtsd %xmm0,%xmm0
L32:
  movsd  D8(%rip),%xmm4
  comisd %xmm0,%xmm4
  ja     L25
  lea    0x88(%rsp),%rdi
  lea    0x80(%rsp),%rsi
  movsd  %xmm3,0x18(%rsp)
  movsd  %xmm1,0x10(%rsp)
  movsd  %xmm2,0x8(%rsp)
  movsd  %xmm0,(%rsp)
  call   <sincos@plt>
  movsd  (%rsp),%xmm0
  movsd  0x10(%rsp),%xmm1
  movsd  0x18(%rsp),%xmm3
  movsd  0x8(%rsp),%xmm2
  movsd  0x80(%rsp),%xmm11
  divsd  %xmm0,%xmm1
  movsd  0x88(%rsp),%xmm5
  movsd  %xmm11,0x38(%rsp)
  movapd %xmm5,%xmm8
  xorpd  D37(%rip),%xmm8
  divsd  %xmm0,%xmm3
  movapd %xmm1,%xmm7
  movapd %xmm1,%xmm15
  mulsd  %xmm1,%xmm15
  movsd  %xmm15,0x20(%rsp)
  divsd  %xmm0,%xmm2
  mulsd  %xmm3,%xmm7
  movapd %xmm3,%xmm6
  movapd %xmm3,%xmm12
  mulsd  %xmm3,%xmm6
  mulsd  %xmm5,%xmm12
  movsd  %xmm7,0x28(%rsp)
  movsd  D53(%rip),%xmm7
  movsd  %xmm6,0x58(%rsp)
  movapd %xmm7,%xmm4
  subsd  %xmm11,%xmm4
  movapd %xmm15,%xmm11
  movapd %xmm12,%xmm15
  addsd  %xmm6,%xmm11
  movsd  %xmm15,(%rsp)
  movsd  %xmm11,0x8(%rsp)
  movapd %xmm8,%xmm11
  mulsd  %xmm1,%xmm11
  movapd %xmm2,%xmm10
  movapd %xmm2,%xmm9
  movapd %xmm2,%xmm14
  mulsd  %xmm2,%xmm10
  mulsd  %xmm1,%xmm9
  mulsd  %xmm3,%xmm14
  movapd %xmm10,%xmm13
  movsd  %xmm10,0x18(%rsp)
  movsd  0x28(%rsp),%xmm10
  addsd  %xmm6,%xmm13
  movapd %xmm2,%xmm6
  movapd %xmm9,%xmm12
  mulsd  %xmm5,%xmm6
  movapd %xmm14,%xmm8
  mulsd  %xmm4,%xmm12
  movsd  %xmm13,0x10(%rsp)
  movsd  0x8(%rsp),%xmm13
  mulsd  %xmm4,%xmm8
  mulsd  %xmm4,%xmm10
  mulsd  %xmm4,%xmm13
  movsd  %xmm6,0x30(%rsp)
  movapd %xmm7,%xmm6
  subsd  %xmm13,%xmm6
  movapd %xmm6,%xmm13
  movapd %xmm15,%xmm6
  addsd  %xmm12,%xmm6
  subsd  (%rsp),%xmm12
  unpcklpd %xmm6,%xmm13
  movsd  0x30(%rsp),%xmm6
  movups %xmm13,0x0(%rbp)
  movapd %xmm11,%xmm13
  addsd  %xmm8,%xmm13
  subsd  %xmm11,%xmm8
  unpcklpd %xmm12,%xmm13
  movsd  0x10(%rsp),%xmm12
  movups %xmm13,0x10(%rbp)
  mulsd  %xmm4,%xmm12
  movapd %xmm12,%xmm13
  movapd %xmm7,%xmm12
  subsd  %xmm13,%xmm12
  movapd %xmm6,%xmm13
  addsd  %xmm10,%xmm13
  subsd  %xmm6,%xmm10
  unpcklpd %xmm10,%xmm8
  unpcklpd %xmm13,%xmm12
  movups %xmm8,0x30(%rbp)
  movsd  0x18(%rsp),%xmm8
  addsd  0x20(%rsp),%xmm8
  movups %xmm12,0x20(%rbp)
  movapd %xmm8,%xmm10
  mulsd  %xmm4,%xmm10
  subsd  %xmm10,%xmm7
  movsd  %xmm7,0x40(%rbp)
  test   %rbx,%rbx
  je     L3
  divsd  %xmm0,%xmm4
  movapd %xmm5,%xmm11
  movsd  0x38(%rsp),%xmm6
  divsd  %xmm0,%xmm11
  movapd %xmm4,%xmm0
  addsd  %xmm4,%xmm0
  subsd  %xmm0,%xmm5
  xorpd  D37(%rip),%xmm0
  movapd %xmm5,%xmm15
  xorpd  D37(%rip),%xmm15
  mulsd  0x8(%rsp),%xmm15
  movq   %xmm15,%rdx
  movapd %xmm1,%xmm15
  mulsd  %xmm4,%xmm15
  movapd %xmm15,%xmm13
  movapd %xmm14,%xmm15
  subsd  %xmm11,%xmm6
  movsd  %xmm11,(%rsp)
  movapd %xmm13,%xmm11
  mulsd  %xmm5,%xmm14
  mulsd  %xmm6,%xmm15
  addsd  %xmm15,%xmm11
  movapd %xmm15,%xmm12
  movapd %xmm9,%xmm15
  mulsd  %xmm5,%xmm15
  subsd  %xmm12,%xmm13
  movsd  0x10(%rsp),%xmm12
  mulsd  %xmm6,%xmm9
  movsd  %xmm11,0x30(%rsp)
  mulsd  %xmm5,%xmm12
  movsd  %xmm13,0x50(%rsp)
  movsd  0x18(%rsp),%xmm13
  movsd  %xmm15,0x38(%rsp)
  mulsd  %xmm2,%xmm15
  mulsd  %xmm6,%xmm13
  movapd %xmm15,%xmm10
  movapd %xmm3,%xmm15
  mulsd  %xmm4,%xmm15
  movsd  %xmm13,0x60(%rsp)
  mulsd  %xmm2,%xmm4
  movapd %xmm15,%xmm7
  movapd %xmm15,%xmm11
  movapd %xmm0,%xmm15
  subsd  %xmm9,%xmm7
  addsd  %xmm9,%xmm11
  movapd %xmm8,%xmm9
  mulsd  %xmm2,%xmm15
  movapd %xmm0,%xmm8
  mulsd  %xmm1,%xmm8
  movsd  %xmm7,0x40(%rsp)
  mulsd  %xmm5,%xmm9
  movapd %xmm14,%xmm7
  mulsd  %xmm2,%xmm7
  movsd  %xmm11,0x10(%rsp)
  movsd  (%rsp),%xmm11
  xorpd  D37(%rip),%xmm11
  mulsd  %xmm3,%xmm0
  movq   %xmm15,%rcx
  movq   %xmm8,%rsi
  movq   %rdx,%xmm8
  xorpd  D37(%rip),%xmm8
  movsd  %xmm7,0x48(%rsp)
  movsd  0x28(%rsp),%xmm7
  movsd  %xmm8,0x8(%rsp)
  movapd %xmm4,%xmm8
  movapd %xmm7,%xmm13
  mulsd  %xmm5,%xmm13
  movapd %xmm7,%xmm5
  movsd  0x20(%rsp),%xmm7
  mulsd  %xmm6,%xmm5
  mulsd  %xmm6,%xmm7
  mulsd  0x58(%rsp),%xmm6
  movapd %xmm13,%xmm15
  mulsd  %xmm2,%xmm15
  subsd  %xmm5,%xmm4
  addsd  %xmm5,%xmm8
  movsd  %xmm7,0x70(%rsp)
  movapd %xmm13,%xmm5
  movsd  0x30(%rsp),%xmm7
  mulsd  %xmm1,%xmm5
  movsd  %xmm4,0x18(%rsp)
  movq   %rdx,%xmm4
  addsd  %xmm10,%xmm7
  mulsd  %xmm2,%xmm4
  movsd  %xmm8,0x68(%rsp)
  movsd  0x38(%rsp),%xmm8
  movsd  %xmm15,0x28(%rsp)
  movapd %xmm14,%xmm15
  mulsd  %xmm1,%xmm15
  movsd  %xmm5,0x20(%rsp)
  movsd  0x38(%rsp),%xmm5
  mulsd  %xmm1,%xmm8
  mulsd  %xmm3,%xmm14
  mulsd  %xmm3,%xmm5
  unpcklpd %xmm7,%xmm4
  movups %xmm4,(%rbx)
  movsd  0x40(%rsp),%xmm4
  mulsd  %xmm3,%xmm13
  movsd  %xmm15,0x78(%rsp)
  addsd  0x48(%rsp),%xmm4
  addsd  0x50(%rsp),%xmm10
  movsd  0x28(%rsp),%xmm15
  unpcklpd %xmm10,%xmm4
  movapd %xmm12,%xmm10
  mulsd  %xmm2,%xmm10
  movups %xmm4,0x10(%rbx)
  mulsd  %xmm9,%xmm2
  movapd %xmm10,%xmm7
  movq   %rcx,%xmm10
  subsd  %xmm7,%xmm10
  movsd  (%rsp),%xmm7
  movapd %xmm10,%xmm4
  movsd  0x60(%rsp),%xmm10
  addsd  %xmm10,%xmm7
  addsd  %xmm15,%xmm7
  unpcklpd %xmm7,%xmm4
  movups %xmm4,0x20(%rbx)
  movsd  0x48(%rsp),%xmm4
  addsd  0x10(%rsp),%xmm4
  movapd %xmm4,%xmm7
  movapd %xmm11,%xmm4
  subsd  %xmm10,%xmm4
  movq   %rcx,%xmm10
  subsd  %xmm2,%xmm10
  movsd  0x8(%rsp),%xmm2
  mulsd  %xmm1,%xmm2
  addsd  %xmm15,%xmm4
  movq   %rsi,%xmm15
  unpcklpd %xmm4,%xmm7
  movups %xmm7,0x30(%rbx)
  movsd  0x70(%rsp),%xmm7
  subsd  %xmm2,%xmm15
  movapd %xmm10,%xmm2
  movsd  0x68(%rsp),%xmm10
  unpcklpd %xmm15,%xmm2
  movapd %xmm11,%xmm15
  subsd  %xmm6,%xmm11
  subsd  %xmm7,%xmm15
  movups %xmm2,0x40(%rbx)
  movapd %xmm10,%xmm2
  addsd  %xmm8,%xmm2
  addsd  0x18(%rsp),%xmm8
  movapd %xmm15,%xmm4
  movsd  0x78(%rsp),%xmm15
  addsd  %xmm15,%xmm4
  unpcklpd %xmm4,%xmm2
  movsd  0x10(%rsp),%xmm4
  addsd  0x20(%rsp),%xmm4
  movups %xmm2,0x50(%rbx)
  movapd %xmm12,%xmm2
  xorpd  D37(%rip),%xmm2
  mulsd  %xmm3,%xmm12
  mulsd  %xmm1,%xmm2
  mulsd  %xmm9,%xmm1
  unpcklpd %xmm2,%xmm8
  movups %xmm8,0x60(%rbx)
  movsd  (%rsp),%xmm8
  addsd  %xmm8,%xmm7
  movapd %xmm7,%xmm2
  addsd  %xmm15,%xmm2
  movapd %xmm0,%xmm15
  subsd  %xmm12,%xmm0
  unpcklpd %xmm2,%xmm4
  movsd  0x8(%rsp),%xmm2
  movups %xmm4,0x70(%rbx)
  movsd  0x40(%rsp),%xmm4
  addsd  0x20(%rsp),%xmm4
  mulsd  %xmm3,%xmm2
  movapd %xmm4,%xmm7
  movq   %rsi,%xmm4
  subsd  %xmm1,%xmm4
  movapd %xmm7,%xmm1
  subsd  %xmm2,%xmm15
  unpcklpd %xmm4,%xmm1
  movups %xmm1,0x80(%rbx)
  movapd %xmm8,%xmm1
  addsd  %xmm6,%xmm1
  movapd %xmm15,%xmm2
  addsd  %xmm5,%xmm1
  unpcklpd %xmm1,%xmm2
  movapd %xmm11,%xmm1
  movups %xmm2,0x90(%rbx)
  movsd  0x18(%rsp),%xmm2
  addsd  %xmm5,%xmm1
  addsd  %xmm14,%xmm2
  unpcklpd %xmm1,%xmm2
  movsd  0x30(%rsp),%xmm1
  movups %xmm2,0xa0(%rbx)
  addsd  %xmm13,%xmm1
  unpcklpd %xmm1,%xmm0
  movups %xmm0,0xb0(%rbx)
  addsd  0x50(%rsp),%xmm13
  xorpd  D37(%rip),%xmm9
  movapd %xmm10,%xmm0
  addsd  %xmm14,%xmm0
  mulsd  %xmm3,%xmm9
  unpcklpd %xmm13,%xmm0
  movups %xmm0,0xc0(%rbx)
  movsd  %xmm9,0xd0(%rbx)
L3:
  add    $0x98,%rsp
  pop    %rbx
  pop    %rbp
  ret
  nopl   0x0(%rax)
L25:
  movq   D53(%rip),%xmm1
  mov    D53(%rip),%rax
  pxor   %xmm0,%xmm0
  movups %xmm0,0x10(%rbp)
  mov    %rax,0x40(%rbp)
  movups %xmm1,0x0(%rbp)
  movups %xmm1,0x20(%rbp)
  movups %xmm0,0x30(%rbp)
  test   %rbx,%rbx
  je     L3
  movapd D0(%rip),%xmm2
  movapd D20(%rip),%xmm1
  movups %xmm0,(%rbx)
  movq   $0x0,0xd0(%rbx)
  movups %xmm0,0x10(%rbx)
  movups %xmm2,0x20(%rbx)
  movups %xmm1,0x30(%rbx)
  movups %xmm0,0x40(%rbx)
  movups %xmm1,0x50(%rbx)
  movups %xmm0,0x60(%rbx)
  movups %xmm2,0x70(%rbx)
  movups %xmm0,0x80(%rbx)
  movups %xmm2,0x90(%rbx)
  movups %xmm1,0xa0(%rbx)
  movups %xmm0,0xb0(%rbx)
  movups %xmm0,0xc0(%rbx)
  add    $0x98,%rsp
  pop    %rbx
  pop    %rbp
  ret
L44:
  movsd  %xmm3,0x10(%rsp)
  movsd  %xmm1,0x8(%rsp)
  movsd  %xmm2,(%rsp)
  call   <sqrt@plt>
  movsd  0x10(%rsp),%xmm3
  movsd  0x8(%rsp),%xmm1
  movsd  (%rsp),%xmm2
  jmp    L32
```

tool_calls: name: extract_symbolic_data
arguments: tag: D8
type: byte[8]
name: extract_symbolic_data
arguments: tag: D37
type: f32[4]
name: extract_symbolic_data
arguments: tag: D53
type: f64
name: extract_symbolic_data
arguments: tag: D0
type: f32[4]
name: extract_symbolic_data
arguments: tag: D20
type: f32[4]

tool: {"D8": [0x8d,0xed,0xb5,0xa0,0xf7,0xc6,0xb0,0x3e]}

tool: {"D37": [0.0,-0.0,0.0,0.0]}

tool: D53: 1

tool: {"D0": [0.0,0.0,0.0,1.875]}

tool: {"D20": [0.0,0.0,0.0,-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;
    }
  }
}
```