Struct heron::rapier_plugin::rapier::ncollide::shape::Polyline [−][src]
A polygonal line.
Implementations
impl<N> Polyline<N> where
N: RealField,
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N: RealField,
pub fn new(
points: Vec<Point<N, U3>, Global>,
indices: Option<Vec<Point<usize, U2>, Global>>
) -> Polyline<N>
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points: Vec<Point<N, U3>, Global>,
indices: Option<Vec<Point<usize, U2>, Global>>
) -> Polyline<N>
Builds a new polyline.
pub fn quad(nx: usize, ny: usize) -> Polyline<N>
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A polyline shaped like a quad, in the x-y plane.
pub fn aabb(&self) -> &AABB<N>
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The polyline's AABB.
pub fn points(&self) -> &[Point<N, U3>]ⓘ
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The points of this polyline.
pub fn edges(&self) -> &[PolylineEdge<N>]ⓘ
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The edges of this polyline.
pub fn oriented(&self) -> bool
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Whether this polyline is considered is oriented or not.
By default a polyline is not oriented.
pub fn set_oriented(&mut self, oriented: bool)
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Whether this polyline is considered as oriented or not.
This is determined at the initialization of the polyline.
pub fn edge_containing_feature(&self, id: FeatureId) -> usize
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Face containing feature.
pub fn segment_feature_to_polyline_feature(
&self,
edge_id: usize,
feature: FeatureId
) -> FeatureId
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&self,
edge_id: usize,
feature: FeatureId
) -> FeatureId
Converts a segment FeatureId to a polyline FeatureId.
pub fn edge_segment(&self, i: usize) -> Segment<N>
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The segment of the i
-th edge on this polyline.
pub fn segment_at(&self, i: usize) -> Segment<N>
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Gets the i-th polyline element.
pub fn bvt(&self) -> &BVT<usize, AABB<N>>
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The optimization structure used by this polyline.
pub fn vertex_tangent_cone_contains_dir(
&self,
_i: usize,
_deformations: Option<&[N]>,
_dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> bool
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&self,
_i: usize,
_deformations: Option<&[N]>,
_dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> bool
Tests that the given dir
is on the tangent cone of the i
th vertex
of this polyline.
pub fn transform_by(&mut self, transform: &Isometry<N, U3, Unit<Quaternion<N>>>)
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Applies in-place a transformation to this polyline.
pub fn transformed(
self,
t: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> Polyline<N>
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self,
t: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> Polyline<N>
Applies a transformation to this polyline.
pub fn scale_by(
&mut self,
scale: &Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>
)
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&mut self,
scale: &Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>
)
Applies in-place a non-uniform scale to this polyline.
pub fn scaled(
self,
s: &Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>
) -> Polyline<N>
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self,
s: &Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>
) -> Polyline<N>
Applies a non-uniform scale to this polyline.
pub fn is_backface(&self, feature: FeatureId) -> bool
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Returns true
if the given feature is a FeatureId::Face and
identifies a backface of this polyline.
pub fn vertex_tangent_cone_polar_contains_dir(
&self,
i: usize,
dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
sin_ang_tol: N
) -> bool
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&self,
i: usize,
dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
sin_ang_tol: N
) -> bool
Tests that the given dir
is on the polar of the tangent cone of the i
th vertex
of this polyline.
pub fn edge_tangent_cone_contains_dir(
&self,
_i: usize,
_deformations: Option<&[N]>,
_dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> bool
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&self,
_i: usize,
_deformations: Option<&[N]>,
_dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> bool
Tests that the given dir
is on the tangent cone of the i
th edge
of this polyline.
pub fn edge_tangent_cone_polar_contains_dir(
&self,
i: usize,
dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
cos_ang_tol: N
) -> bool
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&self,
i: usize,
dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
cos_ang_tol: N
) -> bool
Tests whether the polar of the tangent cone of the i-th edge of this polyline
contains the direction dir
considering the cosinus of an angular tolerance cos_ang_tol
.
pub fn tangent_cone_polar_contains_dir(
&self,
_feature: FeatureId,
_dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
_sin_ang_tol: N,
_cos_ang_tol: N
) -> bool
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&self,
_feature: FeatureId,
_dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>,
_sin_ang_tol: N,
_cos_ang_tol: N
) -> bool
(Not yet implemented) Tests whether the polar of the tangent cone of the specified feature of
this polyline contains the direction dir
considering the sinus and cosinus of an angular tolerance.
Trait Implementations
impl<N> Clone for Polyline<N> where
N: Clone + RealField,
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N: Clone + RealField,
impl<N> CompositeShape<N> for Polyline<N> where
N: RealField,
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N: RealField,
pub fn nparts(&self) -> usize
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pub fn map_part_at(
&self,
i: usize,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
f: &mut dyn FnMut(&Isometry<N, U3, Unit<Quaternion<N>>>, &(dyn Shape<N> + 'static))
)
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&self,
i: usize,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
f: &mut dyn FnMut(&Isometry<N, U3, Unit<Quaternion<N>>>, &(dyn Shape<N> + 'static))
)
pub fn map_part_and_preprocessor_at(
&self,
i: usize,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
prediction: &ContactPrediction<N>,
f: &mut dyn FnMut(&Isometry<N, U3, Unit<Quaternion<N>>>, &(dyn Shape<N> + 'static), &dyn ContactPreprocessor<N>)
)
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&self,
i: usize,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
prediction: &ContactPrediction<N>,
f: &mut dyn FnMut(&Isometry<N, U3, Unit<Quaternion<N>>>, &(dyn Shape<N> + 'static), &dyn ContactPreprocessor<N>)
)
pub fn aabb_at(&self, i: usize) -> AABB<N>
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pub fn bvh(&self) -> BVHImpl<'_, N, usize, AABB<N>>
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impl<N> DeformableShape<N> for Polyline<N> where
N: RealField,
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N: RealField,
pub fn deformations_type(&self) -> DeformationsType
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pub fn set_deformations(&mut self, coords: &[N])
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Updates all the degrees of freedom of this shape.
pub fn update_local_approximation(
&self,
coords: &[N],
approx: &mut LocalShapeApproximation<N>
)
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&self,
coords: &[N],
approx: &mut LocalShapeApproximation<N>
)
impl<N> HasBoundingVolume<N, AABB<N>> for Polyline<N> where
N: RealField,
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N: RealField,
pub fn bounding_volume(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> AABB<N>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> AABB<N>
pub fn local_bounding_volume(&self) -> AABB<N>
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impl<N> HasBoundingVolume<N, BoundingSphere<N>> for Polyline<N> where
N: RealField,
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N: RealField,
pub fn bounding_volume(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>
pub fn local_bounding_volume(&self) -> BoundingSphere<N>
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impl<N> PointQuery<N> for Polyline<N> where
N: RealField,
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N: RealField,
pub fn project_point(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>,
solid: bool
) -> PointProjection<N>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>,
solid: bool
) -> PointProjection<N>
pub fn project_point_with_feature(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>
) -> (PointProjection<N>, FeatureId)
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>
) -> (PointProjection<N>, FeatureId)
pub fn contains_point(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>
) -> bool
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>
) -> bool
pub fn distance_to_point(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
pt: &Point<N, U3>,
solid: bool
) -> N
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
pt: &Point<N, U3>,
solid: bool
) -> N
impl<N> PointQueryWithLocation<N> for Polyline<N> where
N: RealField,
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N: RealField,
type Location = (usize, SegmentPointLocation<N>)
Additional shape-specific projection information Read more
pub fn project_point_with_location(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>,
bool
) -> (PointProjection<N>, <Polyline<N> as PointQueryWithLocation<N>>::Location)
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
point: &Point<N, U3>,
bool
) -> (PointProjection<N>, <Polyline<N> as PointQueryWithLocation<N>>::Location)
impl<N> RayCast<N> for Polyline<N> where
N: RealField,
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N: RealField,
pub fn toi_with_ray(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
bool
) -> Option<N>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
bool
) -> Option<N>
pub fn toi_and_normal_with_ray(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
bool
) -> Option<RayIntersection<N>>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
bool
) -> Option<RayIntersection<N>>
pub fn toi_and_normal_and_uv_with_ray(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<RayIntersection<N>>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N,
solid: bool
) -> Option<RayIntersection<N>>
pub fn intersects_ray(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N
) -> bool
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>,
ray: &Ray<N>,
max_toi: N
) -> bool
impl<N> Shape<N> for Polyline<N> where
N: RealField,
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N: RealField,
pub fn aabb(&self, m: &Isometry<N, U3, Unit<Quaternion<N>>>) -> AABB<N>
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pub fn local_aabb(&self) -> AABB<N>
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pub fn bounding_sphere(
&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>
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&self,
m: &Isometry<N, U3, Unit<Quaternion<N>>>
) -> BoundingSphere<N>
pub fn as_ray_cast(&self) -> Option<&dyn RayCast<N>>
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pub fn as_point_query(&self) -> Option<&dyn PointQuery<N>>
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pub fn as_composite_shape(&self) -> Option<&dyn CompositeShape<N>>
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pub fn is_composite_shape(&self) -> bool
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pub fn as_deformable_shape(&self) -> Option<&dyn DeformableShape<N>>
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pub fn as_deformable_shape_mut(&mut self) -> Option<&mut dyn DeformableShape<N>>
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pub fn is_deformable_shape(&self) -> bool
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pub fn tangent_cone_contains_dir(
&self,
_feature: FeatureId,
_m: &Isometry<N, U3, Unit<Quaternion<N>>>,
_deformations: Option<&[N]>,
_dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> bool
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&self,
_feature: FeatureId,
_m: &Isometry<N, U3, Unit<Quaternion<N>>>,
_deformations: Option<&[N]>,
_dir: &Unit<Matrix<N, U3, U1, <DefaultAllocator as Allocator<N, U3, U1>>::Buffer>>
) -> bool
pub fn subshape_containing_feature(&self, id: FeatureId) -> usize
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pub fn local_bounding_sphere(&self) -> BoundingSphere<N>
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pub fn as_convex_polyhedron(&self) -> Option<&dyn ConvexPolyhedron<N>>
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pub fn as_support_map(&self) -> Option<&dyn SupportMap<N>>
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pub fn is_convex_polyhedron(&self) -> bool
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pub fn is_support_map(&self) -> bool
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Auto Trait Implementations
impl<N> RefUnwindSafe for Polyline<N> where
N: RefUnwindSafe,
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N: RefUnwindSafe,
impl<N> Send for Polyline<N>
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impl<N> Sync for Polyline<N>
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impl<N> Unpin for Polyline<N> where
N: Unpin,
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N: Unpin,
impl<N> UnwindSafe for Polyline<N> where
N: UnwindSafe,
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N: UnwindSafe,
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
impl<T> Any for T where
T: Any,
T: Any,
impl<T> Borrow<T> for T where
T: ?Sized,
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T: ?Sized,
impl<T> BorrowMut<T> for T where
T: ?Sized,
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T: ?Sized,
pub fn borrow_mut(&mut self) -> &mut T
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impl<T> CloneAny for T where
T: Clone + Any,
T: Clone + Any,
impl<T> Component for T where
T: 'static + Send + Sync,
T: 'static + Send + Sync,
impl<T> Downcast for T where
T: Any,
T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
pub fn as_any(&self) -> &(dyn Any + 'static)
pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
impl<T> DowncastSync for T where
T: Send + Sync + Any,
T: Send + Sync + Any,
impl<T> From<T> for T
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impl<T> Instrument for T
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pub fn instrument(self, span: Span) -> Instrumented<Self>
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pub fn in_current_span(self) -> Instrumented<Self>
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impl<T, U> Into<U> for T where
U: From<T>,
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U: From<T>,
impl<T> Pointable for T
pub const ALIGN: usize
type Init = T
The type for initializers.
pub unsafe fn init(init: <T as Pointable>::Init) -> usize
pub unsafe fn deref<'a>(ptr: usize) -> &'a T
pub unsafe fn deref_mut<'a>(ptr: usize) -> &'a mut T
pub unsafe fn drop(ptr: usize)
impl<T> Resource for T where
T: 'static + Send + Sync,
T: 'static + Send + Sync,
impl<T> Same<T> for T
type Output = T
Should always be Self
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
pub fn is_in_subset(&self) -> bool
pub fn to_subset_unchecked(&self) -> SS
pub fn from_subset(element: &SS) -> SP
impl<T> ToOwned for T where
T: Clone,
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T: Clone,
type Owned = T
The resulting type after obtaining ownership.
pub fn to_owned(&self) -> T
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pub fn clone_into(&self, target: &mut T)
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impl<T, U> TryFrom<U> for T where
U: Into<T>,
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U: Into<T>,
type Error = Infallible
The type returned in the event of a conversion error.
pub fn try_from(value: U) -> Result<T, <T as TryFrom<U>>::Error>
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impl<T, U> TryInto<U> for T where
U: TryFrom<T>,
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U: TryFrom<T>,
type Error = <U as TryFrom<T>>::Error
The type returned in the event of a conversion error.
pub fn try_into(self) -> Result<U, <U as TryFrom<T>>::Error>
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impl<T> TypeData for T where
T: 'static + Send + Sync + Clone,
T: 'static + Send + Sync + Clone,
pub fn clone_type_data(&self) -> Box<dyn TypeData + 'static, Global>
impl<V, T> VZip<V> for T where
V: MultiLane<T>,
V: MultiLane<T>,