user: 请将以下的汇编代码转换成C语言代码：

```asm
<bpstep_par>:
  endbr64
  push   %r15
  mov    %rdi,%r10
  mov    %rsi,%r15
  mov    %rdx,%r11
  push   %r14
  push   %r13
  push   %r12
  mov    %r9,%r12
  push   %rbp
  mov    %r8,%rbp
  push   %rbx
  sub    $0x138,%rsp
  mov    0x170(%rsp),%rax
  mov    %rcx,0x28(%rsp)
  lea    0xe0(%rsp),%rbx
  lea    0x100(%rsp),%r14
  mov    %rax,0x30(%rsp)
  mov    %fs:0x28,%rax
  mov    %rax,0x128(%rsp)
  mov    $0x1,%eax
L81:
  mov    (%r10,%rax,8),%rdx
  movsd  0x18(%rdx),%xmm0
  mov    (%r11,%rax,8),%rdx
  movsd  %xmm0,(%rbx,%rax,8)
  movsd  0x18(%rdx),%xmm0
  movsd  %xmm0,(%r14,%rax,8)
  add    $0x1,%rax
  cmp    $0x4,%rax
  jne    L81
  lea    0x60(%rsp),%rax
  mov    %r14,%rsi
  mov    %rbx,%rdi
  mov    %r10,0x48(%rsp)
  mov    %rax,%rdx
  mov    %r11,0x40(%rsp)
  mov    %rax,0x18(%rsp)
  call   <cross@plt>
  mov    %r14,%rsi
  mov    %rbx,%rdi
  call   <magang@plt>
  mov    $0x3,%ecx
  mov    $0x1,%edx
  mov    $0x3,%esi
  mov    $0x1,%edi
  movsd  %xmm0,0x20(%rsp)
  call   <dmatrix@plt>
  mov    $0x3,%ecx
  mov    $0x1,%edx
  mov    $0x3,%esi
  mov    $0x1,%edi
  mov    %rax,0x10(%rsp)
  call   <dmatrix@plt>
  mov    $0x3,%ecx
  mov    $0x1,%edx
  mov    $0x3,%esi
  mov    $0x1,%edi
  mov    %rax,%r13
  call   <dmatrix@plt>
  movsd  0x20(%rsp),%xmm0
  mov    0x18(%rsp),%rdi
  mulsd  D48(%rip),%xmm0
  mov    %rax,%rsi
  mov    %rax,0x8(%rsp)
  movsd  %xmm0,0x38(%rsp)
  call   <arb_rotation@plt>
  sub    $0x8,%rsp
  mov    $0x3,%r9d
  mov    $0x3,%r8d
  push   %r13
  mov    0x50(%rsp),%rcx
  mov    $0x3,%edx
  mov    $0x3,%esi
  mov    0x18(%rsp),%rdi
  call   <multi_matrix@plt>
  movsd  0x48(%rsp),%xmm0
  mov    0x18(%rsp),%rsi
  mov    0x28(%rsp),%rdi
  xorpd  D38(%rip),%xmm0
  call   <arb_rotation@plt>
  pop    %rax
  push   0x18(%rsp)
  mov    $0x3,%r8d
  mov    0x58(%rsp),%rcx
  mov    $0x3,%edx
  mov    $0x3,%esi
  mov    $0x3,%r9d
  mov    0x18(%rsp),%rdi
  call   <multi_matrix@plt>
  pop    %rdx
  pop    %rcx
  mov    $0x1,%eax
  mov    0x10(%rsp),%rsi
  lea    0xc0(%rsp),%r8
L21:
  mov    0x0(%r13,%rax,8),%rdx
  mov    (%rsi,%rax,8),%rcx
  movsd  0x18(%rdx),%xmm0
  movsd  %xmm0,(%r8,%rax,8)
  movsd  0x10(%rcx),%xmm0
  movsd  %xmm0,(%rbx,%rax,8)
  movsd  0x10(%rdx),%xmm0
  movsd  %xmm0,(%r14,%rax,8)
  add    $0x1,%rax
  cmp    $0x4,%rax
  jne    L21
  mov    %r8,%rdx
  mov    %r14,%rsi
  mov    %rbx,%rdi
  mov    %r8,0x38(%rsp)
  call   <vec_ang@plt>
  mov    $0xb4,%edi
  movsd  %xmm0,0x30(%rbp)
  call   <ddiff@plt>
  movsd  D4(%rip),%xmm3
  mov    0x38(%rsp),%r8
  comisd %xmm0,%xmm3
  jbe    L71
  mov    0x8(%r13),%rax
  lea    0xa0(%rsp),%r14
  movsd  0x8(%rax),%xmm0
  mov    0x10(%r13),%rax
  movsd  %xmm0,0xa8(%rsp)
  movsd  0x8(%rax),%xmm0
  mov    0x18(%r13),%rax
  movsd  %xmm0,0xb0(%rsp)
  movsd  0x8(%rax),%xmm0
  movsd  %xmm0,0xb8(%rsp)
L47:
  lea    0x80(%rsp),%rdx
  mov    %r8,%rsi
  mov    %r14,%rdi
  mov    %r8,0x38(%rsp)
  mov    %rdx,0x40(%rsp)
  call   <cross@plt>
  mov    0x28(%rsp),%rsi
  mov    0x30(%rsp),%rdi
  mov    $0x1,%eax
  movsd  D78(%rip),%xmm1
  mov    0x38(%rsp),%r8
  mov    0x40(%rsp),%rdx
L2:
  movsd  (%r15,%rax,8),%xmm0
  addsd  (%rsi,%rax,8),%xmm0
  mov    (%r12,%rax,8),%rcx
  mulsd  %xmm1,%xmm0
  movsd  %xmm0,(%rdi,%rax,8)
  movsd  (%rsi,%rax,8),%xmm0
  subsd  (%r15,%rax,8),%xmm0
  movsd  %xmm0,(%rbx,%rax,8)
  movsd  (%rdx,%rax,8),%xmm0
  movsd  %xmm0,0x8(%rcx)
  movsd  (%r14,%rax,8),%xmm0
  movsd  %xmm0,0x10(%rcx)
  movsd  (%r8,%rax,8),%xmm0
  add    $0x1,%rax
  movsd  %xmm0,0x18(%rcx)
  cmp    $0x4,%rax
  jne    L2
  mov    $0x8,%edx
L87:
  movq   $0x0,0x0(%rbp,%rdx,1)
  pxor   %xmm1,%xmm1
  mov    $0x1,%eax
L19:
  mov    (%r12,%rax,8),%rcx
  movsd  (%rcx,%rdx,1),%xmm0
  mulsd  (%rbx,%rax,8),%xmm0
  add    $0x1,%rax
  addsd  %xmm0,%xmm1
  movsd  %xmm1,0x0(%rbp,%rdx,1)
  cmp    $0x4,%rax
  jne    L19
  add    $0x8,%rdx
  cmp    $0x20,%rdx
  jne    L87
  mov    0x18(%rsp),%rdi
  mov    %r8,%rdx
  mov    %r14,%rsi
  call   <vec_ang@plt>
  call   <deg2rad@plt>
  lea    0x58(%rsp),%rdi
  lea    0x50(%rsp),%rsi
  call   <sincos@plt>
  movsd  0x20(%rsp),%xmm2
  mov    0x10(%rsp),%rdi
  mov    $0x3,%r8d
  movsd  0x50(%rsp),%xmm0
  mov    $0x1,%ecx
  mov    $0x3,%edx
  mov    $0x1,%esi
  mulsd  %xmm2,%xmm0
  mulsd  0x58(%rsp),%xmm2
  movsd  %xmm0,0x28(%rbp)
  movsd  %xmm2,0x20(%rbp)
  call   <free_dmatrix@plt>
  mov    $0x3,%r8d
  mov    $0x1,%ecx
  mov    %r13,%rdi
  mov    $0x3,%edx
  mov    $0x1,%esi
  call   <free_dmatrix@plt>
  mov    0x8(%rsp),%rdi
  mov    $0x3,%r8d
  mov    $0x1,%ecx
  mov    $0x3,%edx
  mov    $0x1,%esi
  call   <free_dmatrix@plt>
  mov    0x128(%rsp),%rax
  sub    %fs:0x28,%rax
  jne    L77
  add    $0x138,%rsp
  pop    %rbx
  pop    %rbp
  pop    %r12
  pop    %r13
  pop    %r14
  pop    %r15
  ret
  nopw   0x0(%rax,%rax,1)
L71:
  movsd  0x30(%rbp),%xmm0
  mov    $0xffffff4c,%edi
  mov    %r8,0x38(%rsp)
  call   <ddiff@plt>
  movsd  D4(%rip),%xmm4
  mov    0x38(%rsp),%r8
  comisd %xmm0,%xmm4
  jbe    L30
  mov    0x8(%r13),%rax
  lea    0xa0(%rsp),%r14
  movsd  0x8(%rax),%xmm0
  mov    0x10(%r13),%rax
  xorpd  D38(%rip),%xmm0
  movsd  %xmm0,0xa8(%rsp)
  movsd  0x8(%rax),%xmm0
  mov    0x18(%r13),%rax
  xorpd  D38(%rip),%xmm0
  movsd  %xmm0,0xb0(%rsp)
  movsd  0x8(%rax),%xmm0
  xorpd  D38(%rip),%xmm0
  movsd  %xmm0,0xb8(%rsp)
  jmp    L47
  nopw   0x0(%rax,%rax,1)
L30:
  movsd  0x108(%rsp),%xmm0
  lea    0xa0(%rsp),%r14
  mov    %r8,0x38(%rsp)
  addsd  0xe8(%rsp),%xmm0
  mov    %r14,%rdi
  movsd  %xmm0,0xa8(%rsp)
  movsd  0x110(%rsp),%xmm0
  addsd  0xf0(%rsp),%xmm0
  movsd  %xmm0,0xb0(%rsp)
  movsd  0xf8(%rsp),%xmm0
  addsd  0x118(%rsp),%xmm0
  movsd  %xmm0,0xb8(%rsp)
  call   <vec_norm@plt>
  mov    0x38(%rsp),%r8
  jmp    L47
L77:
  call   <__stack_chk_fail@plt>
```

tool_calls: name: disassemble_data
arguments: data_tag: D48
type_infered: f32[2]
name: disassemble_data
arguments: data_tag: D38
type_infered: f32[4]
name: disassemble_data
arguments: data_tag: D4
type_infered: byte[8]
name: disassemble_data
arguments: data_tag: D78
type_infered: f64

tool: {"D48": [0.0,-1.75]}

tool: {"D38": [0.0,-0.0,0.0,0.0]}

tool: {"D4": [0x48,0xaf,0xbc,0x9a,0xf2,0xd7,0x7a,0x3e]}

tool: D78: 0.5

assistant: ```c
void bpstep_par(double **rot1, double *org1, double **rot2, double *org2, double *pars, double **mst_orien, double *mst_org) {
  double phi, rolltilt;
  double hinge[4], mstx[4], msty[4], mstz[4], t1[4], t2[4];
  double **para_bp1, **para_bp2, **temp;
  long i, j;
  for (i = 1; i <= 3; i++) {
    t1[i] = rot1[i][3];
    t2[i] = rot2[i][3];
  }
  cross(t1, t2, hinge);
  rolltilt = magang(t1, t2);
  para_bp1 = dmatrix(1, 3, 1, 3);
  para_bp2 = dmatrix(1, 3, 1, 3);
  temp = dmatrix(1, 3, 1, 3);
  arb_rotation(hinge, -0.5 * rolltilt, temp);
  multi_matrix(temp, 3, 3, rot2, 3, 3, para_bp2);
  arb_rotation(hinge, 0.5 * rolltilt, temp);
  multi_matrix(temp, 3, 3, rot1, 3, 3, para_bp1);
  for (i = 1; i <= 3; i++) {
    mstz[i] = para_bp2[i][3];
    t1[i] = para_bp1[i][2];
    t2[i] = para_bp2[i][2];
  }
  pars[6] = vec_ang(t1, t2, mstz);
  if (ddiff(pars[6], 180) < 1.0e-7)
    for (i = 1; i <= 3; i++)
      msty[i] = para_bp2[i][1];
  else if (ddiff(pars[6], -180) < 1.0e-7)
    for (i = 1; i <= 3; i++)
      msty[i] = -para_bp2[i][1];
  else {
    for (i = 1; i <= 3; i++)
      msty[i] = t1[i] + t2[i];
    vec_norm(msty);
  }
  cross(msty, mstz, mstx);
  for (i = 1; i <= 3; i++) {
    mst_org[i] = 0.5 * (org1[i] + org2[i]);
    t1[i] = org2[i] - org1[i];
    mst_orien[i][1] = mstx[i];
    mst_orien[i][2] = msty[i];
    mst_orien[i][3] = mstz[i];
  }
  for (i = 1; i <= 3; i++) {
    pars[i] = 0.0;
    for (j = 1; j <= 3; j++)
      pars[i] += t1[j] * mst_orien[j][i];
  }
  phi = deg2rad(vec_ang(hinge, msty, mstz));
  pars[5] = rolltilt * cos(phi);
  pars[4] = rolltilt * sin(phi);
  free_dmatrix(para_bp1, 1, 3, 1, 3);
  free_dmatrix(para_bp2, 1, 3, 1, 3);
  free_dmatrix(temp, 1, 3, 1, 3);
}
```