user: 请将以下的汇编代码转换成C语言代码:

```asm
<ContactJacobian>:
  endbr64
  push   %rbp
  mov    %rsp,%rbp
  sub    $0x60,%rsp
  mov    %rdi,-0x58(%rbp)
  mov    %rsi,-0x60(%rbp)
  mov    -0x58(%rbp),%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x60(%rbp),%rax
  movsd  (%rax),%xmm0
  movsd  %xmm0,-0x48(%rbp)
  mov    -0x48(%rbp),%rax
  movq   %rax,%xmm0
  call   <sin@plt>
  movq   %xmm0,%rax
  mov    %rax,-0x40(%rbp)
  mov    -0x60(%rbp),%rax
  movsd  0x8(%rax),%xmm0
  movsd  %xmm0,-0x38(%rbp)
  mov    -0x38(%rbp),%rax
  movq   %rax,%xmm0
  call   <cos@plt>
  movq   %xmm0,%rax
  mov    %rax,-0x30(%rbp)
  movsd  -0x30(%rbp),%xmm1
  movsd  D17(%rip),%xmm0
  addsd  %xmm1,%xmm0
  movsd  %xmm0,-0x28(%rbp)
  mov    -0x48(%rbp),%rax
  movq   %rax,%xmm0
  call   <cos@plt>
  movq   %xmm0,%rax
  mov    %rax,-0x20(%rbp)
  mov    -0x38(%rbp),%rax
  movq   %rax,%xmm0
  call   <sin@plt>
  movq   %xmm0,%rax
  mov    %rax,-0x18(%rbp)
  movsd  -0x20(%rbp),%xmm0
  mulsd  -0x18(%rbp),%xmm0
  movsd  %xmm0,-0x10(%rbp)
  movsd  -0x40(%rbp),%xmm0
  movq   D16(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  mulsd  -0x28(%rbp),%xmm0
  mov    -0x58(%rbp),%rax
  add    $0x8,%rax
  subsd  -0x10(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x58(%rbp),%rax
  add    $0x10,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  movsd  -0x40(%rbp),%xmm0
  mulsd  -0x18(%rbp),%xmm0
  movsd  %xmm0,-0x8(%rbp)
  movsd  -0x20(%rbp),%xmm0
  mulsd  -0x28(%rbp),%xmm0
  mov    -0x58(%rbp),%rax
  add    $0x18,%rax
  subsd  -0x8(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x58(%rbp),%rax
  add    $0x20,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x58(%rbp),%rax
  add    $0x28,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x58(%rbp),%rax
  add    $0x30,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  movsd  -0x10(%rbp),%xmm0
  movq   D16(%rip),%xmm1
  xorpd  %xmm1,%xmm0
  movsd  -0x40(%rbp),%xmm1
  mulsd  -0x30(%rbp),%xmm1
  mov    -0x58(%rbp),%rax
  add    $0x38,%rax
  subsd  %xmm1,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x58(%rbp),%rax
  add    $0x40,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  movsd  -0x20(%rbp),%xmm0
  mulsd  -0x30(%rbp),%xmm0
  mov    -0x58(%rbp),%rax
  add    $0x48,%rax
  subsd  -0x8(%rbp),%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x58(%rbp),%rax
  add    $0x50,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  mov    -0x58(%rbp),%rax
  add    $0x58,%rax
  pxor   %xmm0,%xmm0
  movsd  %xmm0,(%rax)
  nop
  leave
  ret
```

tool_calls: name: extract_symbolic_data
arguments: tag: D17
datatype: f64
name: extract_symbolic_data
arguments: tag: D16
datatype: f32[2]

tool: D17: 1

tool: {"D16": [0.0,-0.0]}

assistant: ```c
void ContactJacobian(CJ, q) double CJ[12];
double q[2];
{
  double t1;
  double t11;
  double t2;
  double t3;
  double t4;
  double t5;
  double t7;
  double t8;
  double t9;
  {
    CJ[0] = 0.0;
    t1 = q[0];
    t2 = sin(t1);
    t3 = q[1];
    t4 = cos(t3);
    t5 = t4 + 1.0;
    t7 = cos(t1);
    t8 = sin(t3);
    t9 = t7 * t8;
    CJ[1] = -t2 * t5 - t9;
    CJ[2] = 0.0;
    t11 = t2 * t8;
    CJ[3] = t7 * t5 - t11;
    CJ[4] = 0.0;
    CJ[5] = 0.0;
    CJ[6] = 0.0;
    CJ[7] = -t9 - t2 * t4;
    CJ[8] = 0.0;
    CJ[9] = -t11 + t7 * t4;
    CJ[10] = 0.0;
    CJ[11] = 0.0;
    return;
  }
}
```