user: 下面的汇编指令对应的C源代码是什么：

```asm
<so3_quat2rot>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  sub    $0xd0,%rsp
  mov    %rdi,-0xc8(%rbp)
  mov    %rsi,-0xd0(%rbp)
  mov    %fs:0x28,%rax
  mov    %rax,-0x8(%rbp)
  xor    %eax,%eax
  mov    -0xc8(%rbp),%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0xc0(%rbp)
  mov    -0xc8(%rbp),%rax
  add    $0x8,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0xb8(%rbp)
  mov    -0xc8(%rbp),%rax
  add    $0x10,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0xb0(%rbp)
  mov    -0xc8(%rbp),%rax
  add    $0x18,%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0xa8(%rbp)
  movsd  -0xc0(%rbp),%xmm0
  mulsd  %xmm0,%xmm0
  movsd  %xmm0,-0xa0(%rbp)
  movsd  -0xb8(%rbp),%xmm0
  mulsd  %xmm0,%xmm0
  movsd  %xmm0,-0x98(%rbp)
  movsd  -0xb0(%rbp),%xmm0
  mulsd  %xmm0,%xmm0
  movsd  %xmm0,-0x90(%rbp)
  movsd  -0xa8(%rbp),%xmm0
  mulsd  %xmm0,%xmm0
  movsd  %xmm0,-0x88(%rbp)
  movsd  -0xc0(%rbp),%xmm0
  mulsd  -0xb8(%rbp),%xmm0
  movsd  %xmm0,-0x80(%rbp)
  movsd  -0xc0(%rbp),%xmm0
  mulsd  -0xa8(%rbp),%xmm0
  movsd  %xmm0,-0x78(%rbp)
  movsd  -0xc0(%rbp),%xmm0
  mulsd  -0xb0(%rbp),%xmm0
  movsd  %xmm0,-0x70(%rbp)
  movsd  -0xb8(%rbp),%xmm0
  mulsd  -0xb0(%rbp),%xmm0
  movsd  %xmm0,-0x68(%rbp)
  movsd  -0xb8(%rbp),%xmm0
  mulsd  -0xa8(%rbp),%xmm0
  movsd  %xmm0,-0x60(%rbp)
  movsd  -0xb0(%rbp),%xmm0
  mulsd  -0xa8(%rbp),%xmm0
  movsd  %xmm0,-0x58(%rbp)
  movsd  -0xa0(%rbp),%xmm0
  addsd  -0x98(%rbp),%xmm0
  subsd  -0x90(%rbp),%xmm0
  subsd  -0x88(%rbp),%xmm0
  movsd  %xmm0,-0x50(%rbp)
  movsd  -0x68(%rbp),%xmm0
  subsd  -0x78(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  movsd  %xmm0,-0x48(%rbp)
  movsd  -0x60(%rbp),%xmm0
  addsd  -0x70(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  movsd  %xmm0,-0x40(%rbp)
  movsd  -0x68(%rbp),%xmm0
  addsd  -0x78(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  movsd  %xmm0,-0x38(%rbp)
  movsd  -0xa0(%rbp),%xmm0
  subsd  -0x98(%rbp),%xmm0
  addsd  -0x90(%rbp),%xmm0
  subsd  -0x88(%rbp),%xmm0
  movsd  %xmm0,-0x30(%rbp)
  movsd  -0x58(%rbp),%xmm0
  subsd  -0x80(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  movsd  %xmm0,-0x28(%rbp)
  movsd  -0x60(%rbp),%xmm0
  subsd  -0x70(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  movsd  %xmm0,-0x20(%rbp)
  movsd  -0x58(%rbp),%xmm0
  addsd  -0x80(%rbp),%xmm0
  addsd  %xmm0,%xmm0
  movsd  %xmm0,-0x18(%rbp)
  movsd  -0xa0(%rbp),%xmm0
  subsd  -0x98(%rbp),%xmm0
  subsd  -0x90(%rbp),%xmm0
  addsd  -0x88(%rbp),%xmm0
  movsd  %xmm0,-0x10(%rbp)
  lea    -0x50(%rbp),%rcx
  mov    -0xd0(%rbp),%rax
  mov    $0x48,%edx
  mov    %rcx,%rsi
  mov    %rax,%rdi
  call   <memcpy@plt>
  nop
  mov    -0x8(%rbp),%rax
  sub    %fs:0x28,%rax
  je     L8
  call   <__stack_chk_fail@plt>
L8:
  leave
  ret
```

assistant: ```c
void so3_quat2rot(const double q[4], double R[9]) {
  const double q0 = q[0], qx = q[1], qy = q[2], qz = q[3];
  const double q0q0 = q0 * q0;
  const double qxqx = qx * qx;
  const double qyqy = qy * qy;
  const double qzqz = qz * qz;
  const double q0qx = q0 * qx;
  const double q0qz = q0 * qz;
  const double q0qy = q0 * qy;
  const double qxqy = qx * qy;
  const double qxqz = qx * qz;
  const double qyqz = qy * qz;
  const double data[9] = {q0q0 + qxqx - qyqy - qzqz, 2 * (qxqy - q0qz), 2 * (qxqz + q0qy), 2 * (qxqy + q0qz), q0q0 - qxqx + qyqy - qzqz, 2 * (qyqz - q0qx), 2 * (qxqz - q0qy), 2 * (qyqz + q0qx), q0q0 - qxqx - qyqy + qzqz};
  memcpy(R, data, 9 * sizeof(double));
}
```