user: What is the c source code of the assembly code below:

```asm
<get_rot>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  sub    $0x140,%rsp
  mov    %rdi,-0x108(%rbp)
  mov    %rsi,-0x110(%rbp)
  mov    %rdx,-0x118(%rbp)
  mov    %rcx,-0x120(%rbp)
  mov    %r8,-0x128(%rbp)
  mov    %r9,-0x130(%rbp)
  mov    0x10(%rbp),%rax
  mov    %rax,-0x138(%rbp)
  mov    %fs:0x28,%rax
  mov    %rax,-0x8(%rbp)
  xor    %eax,%eax
  lea    -0xf0(%rbp),%rdi
  mov    -0x130(%rbp),%rcx
  mov    -0x128(%rbp),%rdx
  mov    -0x120(%rbp),%rsi
  mov    -0x118(%rbp),%rax
  mov    %rdi,%r8
  mov    %rax,%rdi
  call   <c_dih_ang@plt>
  lea    -0xe8(%rbp),%rdi
  mov    -0x138(%rbp),%rcx
  mov    -0x128(%rbp),%rdx
  mov    -0x120(%rbp),%rsi
  mov    -0x118(%rbp),%rax
  mov    %rdi,%r8
  mov    %rax,%rdi
  call   <c_dih_ang@plt>
  movsd  -0xe8(%rbp),%xmm0
  movsd  -0xf0(%rbp),%xmm2
  movapd %xmm0,%xmm1
  subsd  %xmm2,%xmm1
  movsd  D0(%rip),%xmm0
  mulsd  %xmm1,%xmm0
  movsd  %xmm0,-0xd8(%rbp)
  lea    -0xe0(%rbp),%rdx
  mov    -0x128(%rbp),%rcx
  mov    -0x120(%rbp),%rax
  mov    %rcx,%rsi
  mov    %rax,%rdi
  call   <c_bnd_len@plt>
  movl   $0x0,-0xf4(%rbp)
  jmp    L12
L18:
  mov    -0xf4(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x128(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  mov    -0xf4(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x120(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm1
  subsd  %xmm1,%xmm0
  movsd  -0xe0(%rbp),%xmm1
  divsd  %xmm1,%xmm0
  mov    -0xf4(%rbp),%eax
  cltq
  movsd  %xmm0,-0xd0(%rbp,%rax,8)
  addl   $0x1,-0xf4(%rbp)
L12:
  cmpl   $0x2,-0xf4(%rbp)
  jle    L18
  lea    -0x70(%rbp),%rcx
  mov    -0xd8(%rbp),%rdx
  lea    -0xd0(%rbp),%rax
  mov    %rcx,%rsi
  movq   %rdx,%xmm0
  mov    %rax,%rdi
  call   <quaternion@plt>
  lea    -0x50(%rbp),%rdx
  lea    -0x70(%rbp),%rax
  mov    %rdx,%rsi
  mov    %rax,%rdi
  call   <rotation_matrix@plt>
  movl   $0x0,-0xf4(%rbp)
  jmp    L16
L2:
  mov    -0xf4(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x108(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  mov    -0xf4(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x128(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm1
  subsd  %xmm1,%xmm0
  mov    -0xf4(%rbp),%eax
  cltq
  movsd  %xmm0,-0x90(%rbp,%rax,8)
  addl   $0x1,-0xf4(%rbp)
L16:
  cmpl   $0x2,-0xf4(%rbp)
  jle    L2
  lea    -0xb0(%rbp),%rdx
  lea    -0x90(%rbp),%rcx
  lea    -0x50(%rbp),%rax
  mov    %rcx,%rsi
  mov    %rax,%rdi
  call   <matmul@plt>
  movl   $0x0,-0xf4(%rbp)
  jmp    L53
L57:
  mov    -0xf4(%rbp),%eax
  cltq
  movsd  -0xb0(%rbp,%rax,8),%xmm1
  mov    -0xf4(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x128(%rbp),%rax
  add    %rdx,%rax
  movsd  (%rax),%xmm0
  mov    -0xf4(%rbp),%eax
  cltq
  lea    0x0(,%rax,8),%rdx
  mov    -0x110(%rbp),%rax
  add    %rdx,%rax
  addsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  addl   $0x1,-0xf4(%rbp)
L53:
  cmpl   $0x2,-0xf4(%rbp)
  jle    L57
  nop
  mov    -0x8(%rbp),%rax
  sub    %fs:0x28,%rax
  je     L7
  call   <__stack_chk_fail@plt>
L7:
  leave
  ret
```

tool_calls: name: read_data
arguments: data_tag: D0
data_type: f64

tool: D0: 0.25

assistant: ```c
void get_rot(double obj_i[3], double obj_f[3], double tor1[3], double tor2[3], double tor3[3], double tor4_i[3], double tor4_f[3]) {
  double Us[3][3], p[4];
  double vec_rot[3], mat1[3], mat11[3];
  double angle, ang_i, ang_f, vec_len;
  int i;
  c_dih_ang(tor1, tor2, tor3, tor4_i, &ang_i);
  c_dih_ang(tor1, tor2, tor3, tor4_f, &ang_f);
  angle = (ang_f - ang_i) * 0.25;
  c_bnd_len(tor2, tor3, &vec_len);
  for (i = 0; i < 3; i++)
    vec_rot[i] = (tor3[i] - tor2[i]) / vec_len;
  quaternion(vec_rot, angle, p);
  rotation_matrix(p, Us);
  for (i = 0; i < 3; i++)
    mat11[i] = obj_i[i] - tor3[i];
  matmul(Us, mat11, mat1);
  for (i = 0; i < 3; i++)
    obj_f[i] = mat1[i] + tor3[i];
  return;
}
```