user: 请从给定的汇编指令推导出C源代码：

```asm
<ContactHessian>:
  endbr64
  push   %r14
  push   %r13
  push   %r12
  mov    %rsi,%r12
  push   %rbp
  mov    %rdx,%rbp
  push   %rbx
  mov    %rdi,%rbx
  sub    $0x40,%rsp
  movq   $0x0,(%rdi)
  movsd  (%r12),%xmm0
  lea    0x38(%rsp),%r13
  lea    0x30(%rsp),%r14
  mov    %r14,%rsi
  mov    %r13,%rdi
  call   <sincos@plt>
  movsd  0x0(%rbp),%xmm1
  mov    %r14,%rsi
  mov    %r13,%rdi
  movsd  0x30(%rsp),%xmm3
  movsd  0x38(%rsp),%xmm9
  movapd %xmm1,%xmm2
  movsd  0x8(%r12),%xmm0
  movsd  %xmm1,0x20(%rsp)
  mulsd  %xmm1,%xmm2
  movapd %xmm3,%xmm8
  movsd  %xmm9,0x28(%rsp)
  movsd  %xmm3,0x18(%rsp)
  mulsd  %xmm2,%xmm8
  movsd  %xmm2,0x10(%rsp)
  movsd  %xmm8,0x8(%rsp)
  call   <sincos@plt>
  movsd  0x20(%rsp),%xmm1
  movsd  0x8(%rbp),%xmm5
  movq   $0x0,0x10(%rbx)
  movsd  0x28(%rsp),%xmm9
  movsd  0x38(%rsp),%xmm6
  movq   $0x0,0x20(%rbx)
  movapd %xmm1,%xmm4
  movsd  0x10(%rsp),%xmm2
  movsd  0x30(%rsp),%xmm10
  movapd %xmm5,%xmm7
  mulsd  %xmm9,%xmm4
  movapd %xmm6,%xmm11
  movsd  D2(%rip),%xmm12
  movsd  0x8(%rsp),%xmm8
  mulsd  %xmm9,%xmm2
  movsd  0x18(%rsp),%xmm3
  movq   $0x0,0x28(%rbx)
  mulsd  %xmm5,%xmm11
  addsd  %xmm10,%xmm12
  movapd %xmm8,%xmm13
  mulsd  %xmm5,%xmm7
  mulsd  %xmm3,%xmm1
  addsd  %xmm4,%xmm4
  mulsd  %xmm12,%xmm13
  mulsd  %xmm10,%xmm5
  movapd %xmm2,%xmm0
  mulsd  %xmm6,%xmm8
  movapd %xmm4,%xmm2
  mulsd  %xmm11,%xmm2
  addsd  %xmm1,%xmm1
  mulsd  %xmm5,%xmm4
  subsd  %xmm13,%xmm2
  movapd %xmm3,%xmm13
  mulsd  %xmm10,%xmm13
  mulsd  %xmm9,%xmm10
  mulsd  %xmm6,%xmm3
  mulsd  %xmm7,%xmm13
  mulsd  %xmm7,%xmm10
  mulsd  %xmm7,%xmm3
  subsd  %xmm13,%xmm2
  movapd %xmm6,%xmm13
  mulsd  %xmm0,%xmm13
  xorpd  D9(%rip),%xmm0
  mulsd  %xmm12,%xmm0
  addsd  %xmm13,%xmm2
  movapd %xmm1,%xmm13
  mulsd  %xmm11,%xmm1
  mulsd  %xmm5,%xmm13
  subsd  %xmm1,%xmm0
  subsd  %xmm13,%xmm2
  movapd %xmm9,%xmm13
  mulsd  %xmm6,%xmm13
  subsd  %xmm10,%xmm0
  subsd  %xmm8,%xmm0
  mulsd  %xmm7,%xmm13
  subsd  %xmm4,%xmm0
  addsd  %xmm13,%xmm2
  subsd  %xmm3,%xmm0
  movsd  %xmm2,0x8(%rbx)
  movsd  %xmm0,0x18(%rbx)
  add    $0x40,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  ret
```

tool_calls: name: parse_data
arguments: data_label: D2
data_type: f64
name: parse_data
arguments: data_label: D9
data_type: f32[4]

tool: D2: 1

tool: {"D9": [0.0,-0.0,0.0,0.0]}

assistant: ```c
void ContactHessian(CH, q, qdot) double CH[6];
double q[2];
double qdot[2];
{
  double t1;
  double t10;
  double t11;
  double t12;
  double t13;
  double t14;
  double t18;
  double t2;
  double t20;
  double t22;
  double t23;
  double t3;
  double t4;
  double t5;
  double t6;
  double t7;
  double t8;
  {
    CH[0] = 0.0;
    t1 = q[0];
    t2 = cos(t1);
    t3 = qdot[0];
    t4 = t3 * t3;
    t5 = t2 * t4;
    t6 = q[1];
    t7 = cos(t6);
    t8 = t7 + 1.0;
    t10 = sin(t1);
    t11 = t10 * t3;
    t12 = sin(t6);
    t13 = qdot[1];
    t14 = t12 * t13;
    t18 = t13 * t13;
    t20 = t10 * t4;
    t22 = t2 * t3;
    t23 = t7 * t13;
    CH[1] = -t5 * t8 + 2.0 * t11 * t14 - t2 * t7 * t18 + t20 * t12 - 2.0 * t22 * t23 + t10 * t12 * t18;
    CH[2] = 0.0;
    CH[3] = -t20 * t8 - 2.0 * t22 * t14 - t10 * t7 * t18 - t5 * t12 - 2.0 * t11 * t23 - t2 * t12 * t18;
    CH[4] = 0.0;
    CH[5] = 0.0;
    return;
  }
}
```