Struct rapier2d::geometry::Triangle [−][src]
A triangle shape.
Fields
a: Point<f32, 2_usize>
The triangle first point.
b: Point<f32, 2_usize>
The triangle second point.
c: Point<f32, 2_usize>
The triangle third point.
Implementations
impl Triangle
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pub fn aabb(&self, pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>) -> AABB
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Computes the world-space AABB of this triangle, transformed by pos
.
pub fn local_aabb(&self) -> AABB
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Computes the local-space AABB of this triangle.
impl Triangle
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pub fn bounding_sphere(
&self,
pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
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&self,
pos: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
Computes the world-space bounding sphere of this triangle, transformed by pos
.
pub fn local_bounding_sphere(&self) -> BoundingSphere
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Computes the local-space bounding sphere of this triangle.
impl Triangle
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pub fn new(
a: Point<f32, 2_usize>,
b: Point<f32, 2_usize>,
c: Point<f32, 2_usize>
) -> Triangle
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a: Point<f32, 2_usize>,
b: Point<f32, 2_usize>,
c: Point<f32, 2_usize>
) -> Triangle
Creates a triangle from three points.
pub fn from_array(arr: &[Point<f32, 2_usize>; 3]) -> &Triangle
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Creates the reference to a triangle from the reference to an array of three points.
pub fn vertices(&self) -> &[Point<f32, 2_usize>; 3]
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Reference to an array containing the three vertices of this triangle.
pub fn normal(
&self
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
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&self
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
The normal of this triangle assuming it is oriented ccw.
The normal points such that it is collinear to AB × AC
(where ×
denotes the cross
product).
pub fn edges(&self) -> [Segment; 3]
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The three edges of this triangle: [AB, BC, CA].
pub fn transformed(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> Triangle
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> Triangle
Returns a new triangle with vertices transformed by m
.
pub fn edges_scaled_directions(
&self
) -> [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>; 3]
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&self
) -> [Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>; 3]
The three edges scaled directions of this triangle: [B - A, C - B, A - C].
pub fn local_support_edge_segment(
&self,
dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> Segment
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&self,
dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> Segment
Return the edge segment of this cuboid with a normal cone containing
a direction that that maximizes the dot product with local_dir
.
pub fn support_face(
&self,
dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> PolygonalFeature
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&self,
dir: Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> PolygonalFeature
Return the face of this triangle with a normal that maximizes
the dot product with dir
.
pub fn scaled_normal(
&self
) -> Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
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&self
) -> Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
A vector normal of this triangle.
The vector points such that it is collinear to AB × AC
(where ×
denotes the cross
product).
pub fn extents_on_dir(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> (f32, f32)
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&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> (f32, f32)
Computes the extents of this triangle on the given direction.
This computes the min and max values of the dot products between each
vertex of this triangle and dir
.
pub fn area(&self) -> f32
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The area of this triangle.
pub fn unit_angular_inertia(&self) -> f32
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Computes the unit angular inertia of this triangle.
pub fn center(&self) -> Point<f32, 2_usize>
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The geometric center of this triangle.
pub fn perimeter(&self) -> f32
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The perimeter of this triangle.
pub fn circumcircle(&self) -> (Point<f32, 2_usize>, f32)
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The circumcircle of this triangle.
pub fn contains_point(&self, p: &Point<f32, 2_usize>) -> bool
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Tests if a point is inside of this triangle.
Trait Implementations
impl Clone for Triangle
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impl Copy for Triangle
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impl Debug for Triangle
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impl From<[Point<f32, 2_usize>; 3]> for Triangle
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impl PartialEq<Triangle> for Triangle
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impl PointQuery for Triangle
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pub fn project_local_point(
&self,
pt: &Point<f32, 2_usize>,
solid: bool
) -> PointProjection
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&self,
pt: &Point<f32, 2_usize>,
solid: bool
) -> PointProjection
pub fn project_local_point_and_get_feature(
&self,
pt: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
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&self,
pt: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
pub fn distance_to_local_point(
&self,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
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&self,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
pub fn contains_local_point(&self, pt: &Point<f32, 2_usize>) -> bool
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pub fn project_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> PointProjection
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> PointProjection
pub fn distance_to_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> f32
pub fn project_point_and_get_feature(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> (PointProjection, FeatureId)
pub fn contains_point(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> bool
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>
) -> bool
impl PointQueryWithLocation for Triangle
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type Location = TrianglePointLocation
Additional shape-specific projection information Read more
pub fn project_local_point_and_get_location(
&self,
pt: &Point<f32, 2_usize>,
solid: bool
) -> (PointProjection, <Triangle as PointQueryWithLocation>::Location)
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&self,
pt: &Point<f32, 2_usize>,
solid: bool
) -> (PointProjection, <Triangle as PointQueryWithLocation>::Location)
pub fn project_point_and_get_location(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> (PointProjection, Self::Location)
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
pt: &Point<f32, 2_usize>,
solid: bool
) -> (PointProjection, Self::Location)
impl PolygonalFeatureMap for Triangle
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pub fn local_support_feature(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)
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&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>,
out_feature: &mut PolygonalFeature
)
impl RayCast for Triangle
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pub fn cast_local_ray_and_get_normal(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
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&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
pub fn cast_local_ray(
&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
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&self,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
pub fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool
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pub fn cast_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<f32>
pub fn cast_ray_and_get_normal(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32,
solid: bool
) -> Option<RayIntersection>
pub fn intersects_ray(
&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32
) -> bool
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&self,
m: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
ray: &Ray,
max_toi: f32
) -> bool
impl Shape for Triangle
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pub fn clone_box(&self) -> Box<dyn Shape + 'static, Global>
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pub fn compute_local_aabb(&self) -> AABB
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pub fn compute_local_bounding_sphere(&self) -> BoundingSphere
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pub fn compute_aabb(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
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&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> AABB
pub fn mass_properties(&self, _density: f32) -> MassProperties
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pub fn is_convex(&self) -> bool
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pub fn shape_type(&self) -> ShapeType
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pub fn as_typed_shape(&self) -> TypedShape<'_>
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pub fn ccd_thickness(&self) -> f32
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pub fn ccd_angular_thickness(&self) -> f32
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pub fn as_support_map(&self) -> Option<&dyn SupportMap>
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pub fn as_polygonal_feature_map(
&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
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&self
) -> Option<(&dyn PolygonalFeatureMap, f32)>
pub fn compute_bounding_sphere(
&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
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&self,
position: &Isometry<f32, Unit<Complex<f32>>, 2_usize>
) -> BoundingSphere
pub fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>
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pub fn feature_normal_at_point(
&self,
_feature: FeatureId,
_point: &Point<f32, 2_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
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&self,
_feature: FeatureId,
_point: &Point<f32, 2_usize>
) -> Option<Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>>
impl StructuralPartialEq for Triangle
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impl SupportMap for Triangle
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pub fn local_support_point(
&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> Point<f32, 2_usize>
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&self,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> Point<f32, 2_usize>
pub fn local_support_point_toward(
&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> Point<f32, 2_usize>
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&self,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> Point<f32, 2_usize>
pub fn support_point(
&self,
transform: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> Point<f32, 2_usize>
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&self,
transform: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
dir: &Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>
) -> Point<f32, 2_usize>
pub fn support_point_toward(
&self,
transform: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> Point<f32, 2_usize>
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&self,
transform: &Isometry<f32, Unit<Complex<f32>>, 2_usize>,
dir: &Unit<Matrix<f32, Const<{_: usize}>, Const<1_usize>, ArrayStorage<f32, 2_usize, 1_usize>>>
) -> Point<f32, 2_usize>
Auto Trait Implementations
impl RefUnwindSafe for Triangle
impl Send for Triangle
impl Sync for Triangle
impl Unpin for Triangle
impl UnwindSafe for Triangle
Blanket Implementations
impl<T> Any for T where
T: 'static + ?Sized,
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T: 'static + ?Sized,
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> Downcast for T where
T: Any,
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T: Any,
pub fn into_any(self: Box<T, Global>) -> Box<dyn Any + 'static, Global>
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pub fn into_any_rc(self: Rc<T>) -> Rc<dyn Any + 'static>
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pub fn as_any(&self) -> &(dyn Any + 'static)
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pub fn as_any_mut(&mut self) -> &mut (dyn Any + 'static)
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impl<T> DowncastSync for T where
T: Any + Send + Sync,
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T: Any + Send + Sync,
impl<T> From<T> for T
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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> Same<T> for T
type Output = T
Should always be Self
impl<T> Scalar for T where
T: Copy + PartialEq<T> + Debug + Any,
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T: Copy + PartialEq<T> + Debug + Any,
impl<SS, SP> SupersetOf<SS> for SP where
SS: SubsetOf<SP>,
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SS: SubsetOf<SP>,
pub fn to_subset(&self) -> Option<SS>
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pub fn is_in_subset(&self) -> bool
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pub fn to_subset_unchecked(&self) -> SS
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pub fn from_subset(element: &SS) -> SP
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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>,