Struct bevy_internal::math::f32::Quat

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pub struct Quat(/* private fields */);
Expand description

A quaternion representing an orientation.

This quaternion is intended to be of unit length but may denormalize due to floating point “error creep” which can occur when successive quaternion operations are applied.

SIMD vector types are used for storage on supported platforms.

This type is 16 byte aligned.

Implementations§

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impl Quat

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pub const IDENTITY: Quat = _

The identity quaternion. Corresponds to no rotation.

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pub const NAN: Quat = _

All NANs.

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pub const fn from_xyzw(x: f32, y: f32, z: f32, w: f32) -> Quat

Creates a new rotation quaternion.

This should generally not be called manually unless you know what you are doing. Use one of the other constructors instead such as identity or from_axis_angle.

from_xyzw is mostly used by unit tests and serde deserialization.

§Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

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pub const fn from_array(a: [f32; 4]) -> Quat

Creates a rotation quaternion from an array.

§Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

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pub const fn from_vec4(v: Vec4) -> Quat

Creates a new rotation quaternion from a 4D vector.

§Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

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pub fn from_slice(slice: &[f32]) -> Quat

Creates a rotation quaternion from a slice.

§Preconditions

This function does not check if the input is normalized, it is up to the user to provide normalized input or to normalized the resulting quaternion.

§Panics

Panics if slice length is less than 4.

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pub fn write_to_slice(self, slice: &mut [f32])

Writes the quaternion to an unaligned slice.

§Panics

Panics if slice length is less than 4.

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pub fn from_axis_angle(axis: Vec3, angle: f32) -> Quat

Create a quaternion for a normalized rotation axis and angle (in radians).

The axis must be a unit vector.

§Panics

Will panic if axis is not normalized when glam_assert is enabled.

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pub fn from_scaled_axis(v: Vec3) -> Quat

Create a quaternion that rotates v.length() radians around v.normalize().

from_scaled_axis(Vec3::ZERO) results in the identity quaternion.

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pub fn from_rotation_x(angle: f32) -> Quat

Creates a quaternion from the angle (in radians) around the x axis.

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pub fn from_rotation_y(angle: f32) -> Quat

Creates a quaternion from the angle (in radians) around the y axis.

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pub fn from_rotation_z(angle: f32) -> Quat

Creates a quaternion from the angle (in radians) around the z axis.

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pub fn from_euler(euler: EulerRot, a: f32, b: f32, c: f32) -> Quat

Creates a quaternion from the given Euler rotation sequence and the angles (in radians).

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pub fn from_mat3(mat: &Mat3) -> Quat

Creates a quaternion from a 3x3 rotation matrix.

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pub fn from_mat3a(mat: &Mat3A) -> Quat

Creates a quaternion from a 3x3 SIMD aligned rotation matrix.

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pub fn from_mat4(mat: &Mat4) -> Quat

Creates a quaternion from a 3x3 rotation matrix inside a homogeneous 4x4 matrix.

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pub fn from_rotation_arc(from: Vec3, to: Vec3) -> Quat

Gets the minimal rotation for transforming from to to. The rotation is in the plane spanned by the two vectors. Will rotate at most 180 degrees.

The inputs must be unit vectors.

from_rotation_arc(from, to) * from ≈ to.

For near-singular cases (from≈to and from≈-to) the current implementation is only accurate to about 0.001 (for f32).

§Panics

Will panic if from or to are not normalized when glam_assert is enabled.

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pub fn from_rotation_arc_colinear(from: Vec3, to: Vec3) -> Quat

Gets the minimal rotation for transforming from to either to or -to. This means that the resulting quaternion will rotate from so that it is colinear with to.

The rotation is in the plane spanned by the two vectors. Will rotate at most 90 degrees.

The inputs must be unit vectors.

to.dot(from_rotation_arc_colinear(from, to) * from).abs() ≈ 1.

§Panics

Will panic if from or to are not normalized when glam_assert is enabled.

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pub fn from_rotation_arc_2d(from: Vec2, to: Vec2) -> Quat

Gets the minimal rotation for transforming from to to. The resulting rotation is around the z axis. Will rotate at most 180 degrees.

The inputs must be unit vectors.

from_rotation_arc_2d(from, to) * from ≈ to.

For near-singular cases (from≈to and from≈-to) the current implementation is only accurate to about 0.001 (for f32).

§Panics

Will panic if from or to are not normalized when glam_assert is enabled.

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pub fn to_axis_angle(self) -> (Vec3, f32)

Returns the rotation axis (normalized) and angle (in radians) of self.

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pub fn to_scaled_axis(self) -> Vec3

Returns the rotation axis scaled by the rotation in radians.

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pub fn to_euler(self, euler: EulerRot) -> (f32, f32, f32)

Returns the rotation angles for the given euler rotation sequence.

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pub fn to_array(&self) -> [f32; 4]

[x, y, z, w]

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pub fn xyz(self) -> Vec3

Returns the vector part of the quaternion.

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pub fn conjugate(self) -> Quat

Returns the quaternion conjugate of self. For a unit quaternion the conjugate is also the inverse.

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pub fn inverse(self) -> Quat

Returns the inverse of a normalized quaternion.

Typically quaternion inverse returns the conjugate of a normalized quaternion. Because self is assumed to already be unit length this method does not normalize before returning the conjugate.

§Panics

Will panic if self is not normalized when glam_assert is enabled.

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pub fn dot(self, rhs: Quat) -> f32

Computes the dot product of self and rhs. The dot product is equal to the cosine of the angle between two quaternion rotations.

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pub fn length(self) -> f32

Computes the length of self.

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pub fn length_squared(self) -> f32

Computes the squared length of self.

This is generally faster than length() as it avoids a square root operation.

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pub fn length_recip(self) -> f32

Computes 1.0 / length().

For valid results, self must not be of length zero.

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pub fn normalize(self) -> Quat

Returns self normalized to length 1.0.

For valid results, self must not be of length zero.

Panics

Will panic if self is zero length when glam_assert is enabled.

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pub fn is_finite(self) -> bool

Returns true if, and only if, all elements are finite. If any element is either NaN, positive or negative infinity, this will return false.

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pub fn is_nan(self) -> bool

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pub fn is_normalized(self) -> bool

Returns whether self of length 1.0 or not.

Uses a precision threshold of 1e-6.

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pub fn is_near_identity(self) -> bool

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pub fn angle_between(self, rhs: Quat) -> f32

Returns the angle (in radians) for the minimal rotation for transforming this quaternion into another.

Both quaternions must be normalized.

§Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

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pub fn abs_diff_eq(self, rhs: Quat, max_abs_diff: f32) -> bool

Returns true if the absolute difference of all elements between self and rhs is less than or equal to max_abs_diff.

This can be used to compare if two quaternions contain similar elements. It works best when comparing with a known value. The max_abs_diff that should be used used depends on the values being compared against.

For more see comparing floating point numbers.

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pub fn lerp(self, end: Quat, s: f32) -> Quat

Performs a linear interpolation between self and rhs based on the value s.

When s is 0.0, the result will be equal to self. When s is 1.0, the result will be equal to rhs.

§Panics

Will panic if self or end are not normalized when glam_assert is enabled.

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pub fn slerp(self, end: Quat, s: f32) -> Quat

Performs a spherical linear interpolation between self and end based on the value s.

When s is 0.0, the result will be equal to self. When s is 1.0, the result will be equal to end.

§Panics

Will panic if self or end are not normalized when glam_assert is enabled.

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pub fn mul_vec3(self, rhs: Vec3) -> Vec3

Multiplies a quaternion and a 3D vector, returning the rotated vector.

§Panics

Will panic if self is not normalized when glam_assert is enabled.

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pub fn mul_quat(self, rhs: Quat) -> Quat

Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.

Note that due to floating point rounding the result may not be perfectly normalized.

§Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

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pub fn from_affine3(a: &Affine3A) -> Quat

Creates a quaternion from a 3x3 rotation matrix inside a 3D affine transform.

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pub fn mul_vec3a(self, rhs: Vec3A) -> Vec3A

Multiplies a quaternion and a 3D vector, returning the rotated vector.

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pub fn as_dquat(self) -> DQuat

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pub fn as_f64(self) -> DQuat

👎Deprecated since 0.24.2: Use as_dquat() instead

Trait Implementations§

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impl Add for Quat

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fn add(self, rhs: Quat) -> Quat

Adds two quaternions.

The sum is not guaranteed to be normalized.

Note that addition is not the same as combining the rotations represented by the two quaternions! That corresponds to multiplication.

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type Output = Quat

The resulting type after applying the + operator.
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impl AsRef<[f32; 4]> for Quat

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fn as_ref(&self) -> &[f32; 4]

Converts this type into a shared reference of the (usually inferred) input type.
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impl Clone for Quat

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fn clone(&self) -> Quat

Returns a copy of the value. Read more
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fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source. Read more
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impl Debug for Quat

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fn fmt(&self, fmt: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter. Read more
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impl Default for Quat

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fn default() -> Quat

Returns the “default value” for a type. Read more
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impl Deref for Quat

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type Target = Vec4<f32>

The resulting type after dereferencing.
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fn deref(&self) -> &<Quat as Deref>::Target

Dereferences the value.
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impl DerefMut for Quat

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fn deref_mut(&mut self) -> &mut <Quat as Deref>::Target

Mutably dereferences the value.
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impl<'de> Deserialize<'de> for Quat

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fn deserialize<D>( deserializer: D ) -> Result<Quat, <D as Deserializer<'de>>::Error>
where D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer. Read more
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impl Display for Quat

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fn fmt(&self, fmt: &mut Formatter<'_>) -> Result<(), Error>

Formats the value using the given formatter. Read more
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impl Div<f32> for Quat

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fn div(self, rhs: f32) -> Quat

Divides a quaternion by a scalar value. The quotient is not guaranteed to be normalized.

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type Output = Quat

The resulting type after applying the / operator.
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impl From<Quat> for [f32; 4]

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fn from(q: Quat) -> [f32; 4]

Converts to this type from the input type.
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impl From<Quat> for (f32, f32, f32, f32)

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fn from(q: Quat) -> (f32, f32, f32, f32)

Converts to this type from the input type.
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impl From<Quat> for Vec4

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fn from(q: Quat) -> Vec4

Converts to this type from the input type.
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impl From<Quat> for __m128

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fn from(q: Quat) -> __m128

Converts to this type from the input type.
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impl FromReflect for Quat

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fn from_reflect(reflect: &(dyn Reflect + 'static)) -> Option<Quat>

Constructs a concrete instance of Self from a reflected value.
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fn take_from_reflect( reflect: Box<dyn Reflect> ) -> Result<Self, Box<dyn Reflect>>

Attempts to downcast the given value to Self using, constructing the value using from_reflect if that fails. Read more
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impl GetTypeRegistration for Quat

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impl Mul<Direction3d> for Quat

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fn mul(self, direction: Direction3d) -> <Quat as Mul<Direction3d>>::Output

Rotates the Direction3d using a Quat.

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type Output = Direction3d

The resulting type after applying the * operator.
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impl Mul<Vec3> for Quat

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fn mul(self, rhs: Vec3) -> <Quat as Mul<Vec3>>::Output

Multiplies a quaternion and a 3D vector, returning the rotated vector.

§Panics

Will panic if self is not normalized when glam_assert is enabled.

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type Output = Vec3

The resulting type after applying the * operator.
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impl Mul<Vec3A> for Quat

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type Output = Vec3A

The resulting type after applying the * operator.
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fn mul(self, rhs: Vec3A) -> <Quat as Mul<Vec3A>>::Output

Performs the * operation. Read more
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impl Mul<f32> for Quat

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fn mul(self, rhs: f32) -> Quat

Multiplies a quaternion by a scalar value.

The product is not guaranteed to be normalized.

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type Output = Quat

The resulting type after applying the * operator.
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impl Mul for Quat

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fn mul(self, rhs: Quat) -> Quat

Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.

Note that due to floating point rounding the result may not be perfectly normalized.

§Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

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type Output = Quat

The resulting type after applying the * operator.
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impl MulAssign for Quat

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fn mul_assign(&mut self, rhs: Quat)

Multiplies two quaternions. If they each represent a rotation, the result will represent the combined rotation.

Note that due to floating point rounding the result may not be perfectly normalized.

§Panics

Will panic if self or rhs are not normalized when glam_assert is enabled.

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impl Neg for Quat

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type Output = Quat

The resulting type after applying the - operator.
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fn neg(self) -> Quat

Performs the unary - operation. Read more
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impl PartialEq for Quat

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fn eq(&self, rhs: &Quat) -> bool

This method tests for self and other values to be equal, and is used by ==.
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fn ne(&self, other: &Rhs) -> bool

This method tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.
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impl<'a> Product<&'a Quat> for Quat

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fn product<I>(iter: I) -> Quat
where I: Iterator<Item = &'a Quat>,

Method which takes an iterator and generates Self from the elements by multiplying the items.
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impl Product for Quat

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fn product<I>(iter: I) -> Quat
where I: Iterator<Item = Quat>,

Method which takes an iterator and generates Self from the elements by multiplying the items.
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impl Reflect for Quat

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fn get_represented_type_info(&self) -> Option<&'static TypeInfo>

Returns the TypeInfo of the type represented by this value. Read more
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fn into_any(self: Box<Quat>) -> Box<dyn Any>

Returns the value as a Box<dyn Any>.
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fn as_any(&self) -> &(dyn Any + 'static)

Returns the value as a &dyn Any.
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fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)

Returns the value as a &mut dyn Any.
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fn into_reflect(self: Box<Quat>) -> Box<dyn Reflect>

Casts this type to a boxed reflected value.
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fn as_reflect(&self) -> &(dyn Reflect + 'static)

Casts this type to a reflected value.
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fn as_reflect_mut(&mut self) -> &mut (dyn Reflect + 'static)

Casts this type to a mutable reflected value.
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fn clone_value(&self) -> Box<dyn Reflect>

Clones the value as a Reflect trait object. Read more
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fn set(&mut self, value: Box<dyn Reflect>) -> Result<(), Box<dyn Reflect>>

Performs a type-checked assignment of a reflected value to this value. Read more
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fn apply(&mut self, value: &(dyn Reflect + 'static))

Applies a reflected value to this value. Read more
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fn reflect_kind(&self) -> ReflectKind

Returns a zero-sized enumeration of “kinds” of type. Read more
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fn reflect_ref(&self) -> ReflectRef<'_>

Returns an immutable enumeration of “kinds” of type. Read more
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fn reflect_mut(&mut self) -> ReflectMut<'_>

Returns a mutable enumeration of “kinds” of type. Read more
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fn reflect_owned(self: Box<Quat>) -> ReflectOwned

Returns an owned enumeration of “kinds” of type. Read more
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fn reflect_partial_eq(&self, value: &(dyn Reflect + 'static)) -> Option<bool>

Returns a “partial equality” comparison result. Read more
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fn debug(&self, f: &mut Formatter<'_>) -> Result<(), Error>

Debug formatter for the value. Read more
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fn reflect_hash(&self) -> Option<u64>

Returns a hash of the value (which includes the type). Read more
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fn serializable(&self) -> Option<Serializable<'_>>

Returns a serializable version of the value. Read more
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fn is_dynamic(&self) -> bool

Indicates whether or not this type is a dynamic type. Read more
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impl Serialize for Quat

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fn serialize<S>( &self, serializer: S ) -> Result<<S as Serializer>::Ok, <S as Serializer>::Error>
where S: Serializer,

Serialize this value into the given Serde serializer. Read more
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impl Struct for Quat

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fn field(&self, name: &str) -> Option<&(dyn Reflect + 'static)>

Returns a reference to the value of the field named name as a &dyn Reflect.
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fn field_mut(&mut self, name: &str) -> Option<&mut (dyn Reflect + 'static)>

Returns a mutable reference to the value of the field named name as a &mut dyn Reflect.
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fn field_at(&self, index: usize) -> Option<&(dyn Reflect + 'static)>

Returns a reference to the value of the field with index index as a &dyn Reflect.
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fn field_at_mut(&mut self, index: usize) -> Option<&mut (dyn Reflect + 'static)>

Returns a mutable reference to the value of the field with index index as a &mut dyn Reflect.
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fn name_at(&self, index: usize) -> Option<&str>

Returns the name of the field with index index.
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fn field_len(&self) -> usize

Returns the number of fields in the struct.
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fn iter_fields(&self) -> FieldIter<'_>

Returns an iterator over the values of the reflectable fields for this struct.
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fn clone_dynamic(&self) -> DynamicStruct

Clones the struct into a DynamicStruct.
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impl Sub for Quat

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fn sub(self, rhs: Quat) -> Quat

Subtracts the rhs quaternion from self.

The difference is not guaranteed to be normalized.

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type Output = Quat

The resulting type after applying the - operator.
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impl<'a> Sum<&'a Quat> for Quat

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fn sum<I>(iter: I) -> Quat
where I: Iterator<Item = &'a Quat>,

Method which takes an iterator and generates Self from the elements by “summing up” the items.
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impl Sum for Quat

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fn sum<I>(iter: I) -> Quat
where I: Iterator<Item = Quat>,

Method which takes an iterator and generates Self from the elements by “summing up” the items.
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impl TypePath for Quat
where Quat: Any + Send + Sync,

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fn type_path() -> &'static str

Returns the fully qualified path of the underlying type. Read more
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fn short_type_path() -> &'static str

Returns a short, pretty-print enabled path to the type. Read more
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fn type_ident() -> Option<&'static str>

Returns the name of the type, or None if it is anonymous. Read more
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fn crate_name() -> Option<&'static str>

Returns the name of the crate the type is in, or None if it is anonymous. Read more
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fn module_path() -> Option<&'static str>

Returns the path to the module the type is in, or None if it is anonymous. Read more
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impl Typed for Quat

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fn type_info() -> &'static TypeInfo

Returns the compile-time info for the underlying type.
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impl Zeroable for Quat

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fn zeroed() -> Self

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impl Copy for Quat

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impl Pod for Quat

Auto Trait Implementations§

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impl Freeze for Quat

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impl RefUnwindSafe for Quat

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impl Send for Quat

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impl Sync for Quat

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impl Unpin for Quat

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impl UnwindSafe for Quat

Blanket Implementations§

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impl<T> Any for T
where T: 'static + ?Sized,

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fn type_id(&self) -> TypeId

Gets the TypeId of self. Read more
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impl<T> Borrow<T> for T
where T: ?Sized,

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fn borrow(&self) -> &T

Immutably borrows from an owned value. Read more
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impl<T> BorrowMut<T> for T
where T: ?Sized,

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fn borrow_mut(&mut self) -> &mut T

Mutably borrows from an owned value. Read more
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impl<T> CheckedBitPattern for T
where T: AnyBitPattern,

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type Bits = T

Self must have the same layout as the specified Bits except for the possible invalid bit patterns being checked during is_valid_bit_pattern.
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fn is_valid_bit_pattern(_bits: &T) -> bool

If this function returns true, then it must be valid to reinterpret bits as &Self.
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impl<T> Downcast for T
where T: Any,

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fn into_any(self: Box<T>) -> Box<dyn Any>

Convert Box<dyn Trait> (where Trait: Downcast) to Box<dyn Any>. Box<dyn Any> can then be further downcast into Box<ConcreteType> where ConcreteType implements Trait.
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fn into_any_rc(self: Rc<T>) -> Rc<dyn Any>

Convert Rc<Trait> (where Trait: Downcast) to Rc<Any>. Rc<Any> can then be further downcast into Rc<ConcreteType> where ConcreteType implements Trait.
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fn as_any(&self) -> &(dyn Any + 'static)

Convert &Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &Any’s vtable from &Trait’s.
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Convert &mut Trait (where Trait: Downcast) to &Any. This is needed since Rust cannot generate &mut Any’s vtable from &mut Trait’s.
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impl<T> DowncastSync for T
where T: Any + Send + Sync,

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fn into_any_arc(self: Arc<T>) -> Arc<dyn Any + Sync + Send>

Convert Arc<Trait> (where Trait: Downcast) to Arc<Any>. Arc<Any> can then be further downcast into Arc<ConcreteType> where ConcreteType implements Trait.
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impl<T> DynamicTypePath for T
where T: TypePath,

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impl<T> From<T> for T

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fn from(t: T) -> T

Returns the argument unchanged.

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impl<T> FromWorld for T
where T: Default,

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fn from_world(_world: &mut World) -> T

Creates Self using data from the given World.
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impl<S> GetField for S
where S: Struct,

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fn get_field<T>(&self, name: &str) -> Option<&T>
where T: Reflect,

Returns a reference to the value of the field named name, downcast to T.
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where T: Reflect,

Returns a mutable reference to the value of the field named name, downcast to T.
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impl<T> GetPath for T
where T: Reflect + ?Sized,

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fn reflect_path<'p>( &self, path: impl ReflectPath<'p> ) -> Result<&(dyn Reflect + 'static), ReflectPathError<'p>>

Returns a reference to the value specified by path. Read more
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Returns a statically typed reference to the value specified by path. Read more
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fn path_mut<'p, T>( &mut self, path: impl ReflectPath<'p> ) -> Result<&mut T, ReflectPathError<'p>>
where T: Reflect,

Returns a statically typed mutable reference to the value specified by path. Read more
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impl<T> Instrument for T

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fn instrument(self, span: Span) -> Instrumented<Self>

Instruments this type with the provided Span, returning an Instrumented wrapper. Read more
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impl<T, U> Into<U> for T
where U: From<T>,

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fn into(self) -> U

Calls U::from(self).

That is, this conversion is whatever the implementation of From<T> for U chooses to do.

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impl<T> Serialize for T
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fn erased_serialize(&self, serializer: &mut dyn Serializer) -> Result<(), Error>

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fn do_erased_serialize( &self, serializer: &mut dyn Serializer ) -> Result<(), ErrorImpl>

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where T: Clone,

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type Owned = T

The resulting type after obtaining ownership.
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default fn to_string(&self) -> String

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Performs the conversion.
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The type returned in the event of a conversion error.
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fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>

Performs the conversion.
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impl<T> TypeData for T
where T: 'static + Send + Sync + Clone,

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impl<T> WithSubscriber for T

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fn with_subscriber<S>(self, subscriber: S) -> WithDispatch<Self>
where S: Into<Dispatch>,

Attaches the provided Subscriber to this type, returning a WithDispatch wrapper. Read more
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fn with_current_subscriber(self) -> WithDispatch<Self>

Attaches the current default Subscriber to this type, returning a WithDispatch wrapper. Read more
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impl<T> AnyBitPattern for T
where T: Pod,

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impl<T> DeserializeOwned for T
where T: for<'de> Deserialize<'de>,

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impl<T> NoUninit for T
where T: Pod,