user: 请将这段汇编代码片段转换成等效的C代码:

```asm
<modele_gravite>:
  endbr64
  push   %r13
  push   %r12
  push   %rbp
  mov    %rdi,%rbp
  push   %rbx
  mov    %rsi,%rbx
  sub    $0x58,%rsp
  movsd  0x8(%rdi),%xmm0
  lea    0x48(%rsp),%r12
  lea    0x40(%rsp),%r13
  mov    %r13,%rsi
  mov    %r12,%rdi
  call   <sincos@plt>
  movsd  0x10(%rbp),%xmm0
  mov    %r13,%rsi
  mov    %r12,%rdi
  movsd  0x40(%rsp),%xmm10
  movsd  0x48(%rsp),%xmm2
  movsd  %xmm10,0x38(%rsp)
  movsd  %xmm2,0x30(%rsp)
  call   <sincos@plt>
  movsd  0x18(%rbp),%xmm0
  mov    %r13,%rsi
  mov    %r12,%rdi
  movsd  0x40(%rsp),%xmm4
  movsd  0x48(%rsp),%xmm8
  movsd  %xmm4,0x28(%rsp)
  movsd  %xmm8,0x20(%rsp)
  call   <sincos@plt>
  movsd  0x20(%rbp),%xmm0
  mov    %r13,%rsi
  mov    %r12,%rdi
  movsd  0x40(%rsp),%xmm14
  movsd  0x48(%rsp),%xmm12
  movsd  %xmm14,0x18(%rsp)
  movsd  %xmm12,0x10(%rsp)
  call   <sincos@plt>
  movsd  0x28(%rbp),%xmm0
  mov    %r13,%rsi
  mov    %r12,%rdi
  movsd  0x40(%rsp),%xmm9
  movsd  0x48(%rsp),%xmm7
  movsd  %xmm9,0x8(%rsp)
  movsd  %xmm7,(%rsp)
  call   <sincos@plt>
  movsd  0x28(%rsp),%xmm4
  movsd  0x18(%rsp),%xmm14
  movq   $0x0,(%rbx)
  movsd  0x20(%rsp),%xmm8
  movsd  0x8(%rsp),%xmm9
  movq   $0x0,0x30(%rbx)
  movapd %xmm4,%xmm0
  movsd  (%rsp),%xmm7
  movsd  0x40(%rsp),%xmm6
  mulsd  %xmm14,%xmm0
  movapd %xmm8,%xmm11
  movsd  D56(%rip),%xmm13
  movsd  0x48(%rsp),%xmm5
  mulsd  %xmm7,%xmm11
  movapd %xmm6,%xmm3
  movsd  0x10(%rsp),%xmm12
  movsd  0x30(%rsp),%xmm2
  mulsd  %xmm13,%xmm3
  movsd  0x38(%rsp),%xmm10
  addsd  D38(%rip),%xmm3
  movapd %xmm0,%xmm1
  mulsd  %xmm9,%xmm1
  movapd %xmm3,%xmm15
  mulsd  %xmm14,%xmm15
  addsd  D17(%rip),%xmm15
  mulsd  %xmm2,%xmm0
  subsd  %xmm11,%xmm1
  movapd %xmm3,%xmm11
  mulsd  %xmm4,%xmm11
  mulsd  %xmm13,%xmm1
  mulsd  %xmm12,%xmm11
  mulsd  %xmm5,%xmm1
  addsd  %xmm11,%xmm1
  movsd  D54(%rip),%xmm11
  mulsd  %xmm9,%xmm11
  mulsd  %xmm10,%xmm1
  mulsd  %xmm12,%xmm11
  mulsd  %xmm5,%xmm11
  addsd  %xmm15,%xmm11
  movapd %xmm4,%xmm15
  mulsd  %xmm7,%xmm15
  mulsd  %xmm2,%xmm4
  mulsd  %xmm2,%xmm11
  mulsd  %xmm12,%xmm4
  addsd  %xmm11,%xmm1
  movsd  D11(%rip),%xmm11
  mulsd  %xmm11,%xmm1
  xorpd  D3(%rip),%xmm1
  movsd  %xmm1,0x8(%rbx)
  movapd %xmm14,%xmm1
  mulsd  %xmm9,%xmm1
  mulsd  %xmm8,%xmm1
  addsd  %xmm15,%xmm1
  movapd %xmm3,%xmm15
  mulsd  %xmm8,%xmm15
  mulsd  %xmm11,%xmm3
  mulsd  %xmm13,%xmm1
  mulsd  %xmm12,%xmm15
  mulsd  %xmm5,%xmm1
  addsd  %xmm15,%xmm1
  movapd %xmm2,%xmm15
  mulsd  %xmm11,%xmm15
  mulsd  %xmm15,%xmm1
  movsd  %xmm1,0x10(%rbx)
  movapd %xmm14,%xmm1
  mulsd  %xmm10,%xmm1
  mulsd  %xmm12,%xmm10
  movapd %xmm4,%xmm12
  subsd  %xmm1,%xmm12
  subsd  %xmm4,%xmm1
  addsd  %xmm10,%xmm0
  movapd %xmm9,%xmm10
  mulsd  %xmm11,%xmm10
  mulsd  %xmm5,%xmm1
  mulsd  %xmm0,%xmm3
  mulsd  %xmm13,%xmm10
  mulsd  %xmm12,%xmm10
  mulsd  %xmm5,%xmm10
  subsd  %xmm3,%xmm10
  movapd %xmm9,%xmm3
  mulsd  %xmm2,%xmm3
  mulsd  %xmm8,%xmm2
  movsd  %xmm10,0x18(%rbx)
  movapd %xmm0,%xmm10
  mulsd  %xmm9,%xmm0
  mulsd  %xmm7,%xmm10
  mulsd  %xmm8,%xmm3
  mulsd  %xmm7,%xmm2
  addsd  %xmm10,%xmm3
  mulsd  D48(%rip),%xmm3
  subsd  %xmm2,%xmm0
  mulsd  %xmm6,%xmm0
  mulsd  %xmm5,%xmm3
  addsd  %xmm1,%xmm0
  mulsd  D51(%rip),%xmm0
  movsd  %xmm3,0x20(%rbx)
  movsd  %xmm0,0x28(%rbx)
  add    $0x58,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  ret
```

tool_calls: name: extract_symbolic_data
arguments: label: D56
type_infered: byte[8]
name: extract_symbolic_data
arguments: label: D38
type_infered: byte[8]
name: extract_symbolic_data
arguments: label: D17
type_infered: byte[8]
name: extract_symbolic_data
arguments: label: D54
type_infered: byte[8]
name: extract_symbolic_data
arguments: label: D11
type_infered: f64
name: extract_symbolic_data
arguments: label: D3
type_infered: byte[16]
name: extract_symbolic_data
arguments: label: D48
type_infered: byte[8]
name: extract_symbolic_data
arguments: label: D51
type_infered: byte[8]

tool: {"D56": [0x9b,0x38,0xb9,0xdf,0xa1,0x28,0xa0,0xbf]}

tool: {"D38": [0xf5,0x2d,0x18,0x01,0xba,0xa4,0x01,0x40]}

tool: {"D17": [0xcc,0xc6,0x94,0x59,0xce,0x37,0x18,0x40]}

tool: {"D54": [0x9b,0x38,0xb9,0xdf,0xa1,0x28,0xa0,0x3f]}

tool: D11: 9.81

tool: {"D3": [0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00]}

tool: {"D48": [0xd0,0x53,0x2e,0x9e,0x8b,0xd0,0xd3,0xbf]}

tool: {"D51": [0xd0,0x53,0x2e,0x9e,0x8b,0xd0,0xd3,0x3f]}

assistant: ```c
void modele_gravite(const double Q[7], double gravity[7]) {
  int i;
  double C1, C2, C3, C4, C5, C6, C7;
  double C11, C22, C33, C44, C55, C66, C77;
  double S1, S2, S3, S4, S5, S6, S7;
  C1 = cos(Q[0]);
  C2 = cos(Q[1]);
  C3 = cos(Q[2]);
  C4 = cos(Q[3]);
  C5 = cos(Q[4]);
  C6 = cos(Q[5]);
  C7 = cos(Q[6]);
  C11 = cos(2 * Q[0]);
  C22 = cos(2 * Q[1]);
  C33 = cos(2 * Q[2]);
  C44 = cos(2 * Q[3]);
  C55 = cos(2 * Q[4]);
  C66 = cos(2 * Q[5]);
  C77 = cos(2 * Q[6]);
  S1 = sin(Q[0]);
  S2 = sin(Q[1]);
  S3 = sin(Q[2]);
  S4 = sin(Q[3]);
  S5 = sin(Q[4]);
  S6 = sin(Q[5]);
  S7 = sin(Q[6]);
  gravity[0] = 0;
  gravity[1] = -(9.81 * (S2 * (0.450 * (3.51 + 4.31 + 3.45 + 1.46 + 0.24) - 3.51 * 0.08944 + 8.41 * 0.06325 + C4 * (0.50 * (3.45 + 1.46 + 0.24) - 3.45 * 0.1647 + 4.31 * 0.04609 + C6 * (1.46 * -0.03 + 0.24 * (0.08 + -0.029))) - C5 * (1.46 * -0.03 + 0.24 * (0.08 + -0.029)) * S4 * S6) + C2 * (C3 * (0.50 * (3.45 + 1.46 + 0.24) - 3.45 * 0.1647 + 4.31 * 0.04609 + C6 * (1.46 * -0.03 + 0.24 * (0.08 + -0.029))) * S4 + (1.46 * -0.03 + 0.24 * (0.08 + -0.029)) * (C3 * C4 * C5 - S3 * S5) * S6)));
  gravity[2] = 9.81 * S2 * ((0.50 * (3.45 + 1.46 + 0.24) - 3.45 * 0.1647 + 4.31 * 0.04609 + C6 * (1.46 * -0.03 + 0.24 * (0.08 + -0.029))) * S3 * S4 + (1.46 * -0.03 + 0.24 * (0.08 + -0.029)) * (C4 * C5 * S3 + C3 * S5) * S6);
  gravity[3] = -(9.81 * (0.50 * (3.45 + 1.46 + 0.24) - 3.45 * 0.1647 + 4.31 * 0.04609 + C6 * (1.46 * -0.03 + 0.24 * (0.08 + -0.029))) * (C3 * C4 * S2 + C2 * S4)) + C5 * 9.81 * (1.46 * -0.03 + 0.24 * (0.08 + -0.029)) * (-(C2 * C4) + C3 * S2 * S4) * S6;
  gravity[4] = 9.81 * (1.46 * -0.03 + 0.24 * (0.08 + -0.029)) * (C5 * S2 * S3 + (C3 * C4 * S2 + C2 * S4) * S5) * S6;
  gravity[5] = -(9.81 * (1.46 * -0.03 + 0.24 * (0.08 + -0.029)) * (C6 * (C5 * (C3 * C4 * S2 + C2 * S4) - S2 * S3 * S5) + (C2 * C4 - C3 * S2 * S4) * S6));
  gravity[6] = 0;
}
```