Struct jumpy::core::physics::collisions::rapier::GenericHeightField

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#[repr(C)]
pub struct GenericHeightField<Storage>
where Storage: HeightFieldStorage,
{ heights: <Storage as HeightFieldStorage>::Heights, status: <Storage as HeightFieldStorage>::Status, scale: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>, aabb: Aabb, }
Expand description

A 2D heightfield with a generic storage buffer for its heights.

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§heights: <Storage as HeightFieldStorage>::Heights§status: <Storage as HeightFieldStorage>::Status§scale: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>§aabb: Aabb

Implementations§

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impl<Storage> GenericHeightField<Storage>
where Storage: HeightFieldStorage,

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pub fn aabb(&self, pos: &Isometry<f32, Unit<Complex<f32>>, 2>) -> Aabb

Computes the world-space Aabb of this heightfield, transformed by pos.

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pub fn local_aabb(&self) -> Aabb

Computes the local-space Aabb of this heightfield.

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impl<Storage> GenericHeightField<Storage>
where Storage: HeightFieldStorage,

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pub fn bounding_sphere( &self, pos: &Isometry<f32, Unit<Complex<f32>>, 2>, ) -> BoundingSphere

Computes the world-space bounding sphere of this height-field, transformed by pos.

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pub fn local_bounding_sphere(&self) -> BoundingSphere

Computes the local-space bounding sphere of this height-field.

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impl GenericHeightField<DefaultStorage>

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pub fn new( heights: Matrix<f32, Dyn, Const<1>, VecStorage<f32, Dyn, Const<1>>>, scale: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>, ) -> GenericHeightField<DefaultStorage>

Creates a new 2D heightfield with the given heights and scale factor.

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impl<Storage> GenericHeightField<Storage>
where Storage: HeightFieldStorage,

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pub fn num_cells(&self) -> usize

The number of cells of this heightfield.

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pub fn heights(&self) -> &<Storage as HeightFieldStorage>::Heights

The height at each cell endpoint.

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pub fn scale(&self) -> &Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>

The scale factor applied to this heightfield.

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pub fn set_scale( &mut self, new_scale: Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>, )

Sets the scale factor applied to this heightfield.

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pub fn scaled( self, scale: &Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>, ) -> GenericHeightField<Storage>

Returns a scaled version of this heightfield.

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pub fn root_aabb(&self) -> &Aabb

The Aabb of this heightfield.

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pub fn cell_width(&self) -> f32

The width of a single cell of this heightfield.

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pub fn unit_cell_width(&self) -> f32

The width of a single cell of this heightfield, without taking the scale factor into account.

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pub fn start_x(&self) -> f32

The left-most x-coordinate of this heightfield.

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pub fn cell_at_point(&self, pt: &OPoint<f32, Const<2>>) -> Option<usize>

Index of the cell a point is on after vertical projection.

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pub fn height_at_point(&self, pt: &OPoint<f32, Const<2>>) -> Option<f32>

Height of the heightfield a the given point after vertical projection on the heightfield surface.

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pub fn segments(&self) -> impl Iterator<Item = Segment>

Iterator through all the segments of this heightfield.

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pub fn segment_at(&self, i: usize) -> Option<Segment>

The i-th segment of the heightfield if it has not been removed.

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pub fn set_segment_removed(&mut self, i: usize, removed: bool)

Mark the i-th segment of this heightfield as removed or not.

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pub fn is_segment_removed(&self, i: usize) -> bool

Checks if the i-th segment has been removed.

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pub fn unclamped_elements_range_in_local_aabb( &self, aabb: &Aabb, ) -> Range<isize>

The range of segment ids that may intersect the given local Aabb.

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pub fn map_elements_in_local_aabb( &self, aabb: &Aabb, f: &mut impl FnMut(u32, &Segment), )

Applies f to each segment of this heightfield that intersects the given aabb.

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impl GenericHeightField<DefaultStorage>

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pub fn to_polyline(&self) -> (Vec<OPoint<f32, Const<2>>>, Vec<[u32; 2]>)

Rasterize this heightfield as a (potentially discontinuous) polyline.

Trait Implementations§

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impl<Storage> Clone for GenericHeightField<Storage>
where Storage: HeightFieldStorage, <Storage as HeightFieldStorage>::Heights: Clone, <Storage as HeightFieldStorage>::Status: Clone,

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fn clone(&self) -> GenericHeightField<Storage>

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<Storage> Debug for GenericHeightField<Storage>
where Storage: Debug + HeightFieldStorage, <Storage as HeightFieldStorage>::Heights: Debug, <Storage as HeightFieldStorage>::Status: Debug,

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

Formats the value using the given formatter. Read more
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impl<Storage> PointQuery for GenericHeightField<Storage>
where Storage: HeightFieldStorage,

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fn project_local_point_with_max_dist( &self, pt: &OPoint<f32, Const<2>>, solid: bool, max_dist: f32, ) -> Option<PointProjection>

Projects a point on self, unless the projection lies further than the given max distance. Read more
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fn project_local_point( &self, point: &OPoint<f32, Const<2>>, _: bool, ) -> PointProjection

Projects a point on self. Read more
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fn project_local_point_and_get_feature( &self, point: &OPoint<f32, Const<2>>, ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self and returns the id of the feature the point was projected on.
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fn contains_local_point(&self, _point: &OPoint<f32, Const<2>>) -> bool

Tests if the given point is inside of self.
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fn project_point_with_max_dist( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, max_dist: f32, ) -> Option<PointProjection>

Projects a point on self transformed by m, unless the projection lies further than the given max distance.
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fn distance_to_local_point( &self, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> f32

Computes the minimal distance between a point and self.
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fn project_point( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> PointProjection

Projects a point on self transformed by m.
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fn distance_to_point( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> f32

Computes the minimal distance between a point and self transformed by m.
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fn project_point_and_get_feature( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, ) -> (PointProjection, FeatureId)

Projects a point on the boundary of self transformed by m and returns the id of the feature the point was projected on.
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fn contains_point( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, ) -> bool

Tests if the given point is inside of self transformed by m.
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impl<Storage> PointQueryWithLocation for GenericHeightField<Storage>
where Storage: HeightFieldStorage,

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type Location = (usize, TrianglePointLocation)

Additional shape-specific projection information Read more
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fn project_local_point_and_get_location( &self, _point: &OPoint<f32, Const<2>>, _: bool, ) -> (PointProjection, <GenericHeightField<Storage> as PointQueryWithLocation>::Location)

Projects a point on self.
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fn project_point_and_get_location( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, ) -> (PointProjection, Self::Location)

Projects a point on self transformed by m.
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fn project_local_point_and_get_location_with_max_dist( &self, pt: &OPoint<f32, Const<2>>, solid: bool, max_dist: f32, ) -> Option<(PointProjection, Self::Location)>

Projects a point on self, with a maximum projection distance.
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fn project_point_and_get_location_with_max_dist( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, pt: &OPoint<f32, Const<2>>, solid: bool, max_dist: f32, ) -> Option<(PointProjection, Self::Location)>

Projects a point on self transformed by m, with a maximum projection distance.
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impl<Storage> RayCast for GenericHeightField<Storage>
where Storage: HeightFieldStorage,

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fn cast_local_ray_and_get_normal( &self, ray: &Ray, max_toi: f32, _: bool, ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.
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fn cast_local_ray(&self, ray: &Ray, max_toi: f32, solid: bool) -> Option<f32>

Computes the time of impact between this transform shape and a ray.
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fn intersects_local_ray(&self, ray: &Ray, max_toi: f32) -> bool

Tests whether a ray intersects this transformed shape.
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fn cast_ray( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, ray: &Ray, max_toi: f32, solid: bool, ) -> Option<f32>

Computes the time of impact between this transform shape and a ray.
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fn cast_ray_and_get_normal( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, ray: &Ray, max_toi: f32, solid: bool, ) -> Option<RayIntersection>

Computes the time of impact, and normal between this transformed shape and a ray.
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fn intersects_ray( &self, m: &Isometry<f32, Unit<Complex<f32>>, 2>, ray: &Ray, max_toi: f32, ) -> bool

Tests whether a ray intersects this transformed shape.
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impl Shape for GenericHeightField<DefaultStorage>

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fn clone_box(&self) -> Box<dyn Shape>

Clones this shape into a boxed trait-object.
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fn compute_local_aabb(&self) -> Aabb

Computes the Aabb of this shape.
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fn compute_local_bounding_sphere(&self) -> BoundingSphere

Computes the bounding-sphere of this shape.
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fn compute_aabb(&self, position: &Isometry<f32, Unit<Complex<f32>>, 2>) -> Aabb

Computes the Aabb of this shape with the given position.
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fn mass_properties(&self, _density: f32) -> MassProperties

Compute the mass-properties of this shape given its uniform density.
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fn shape_type(&self) -> ShapeType

Gets the type tag of this shape.
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fn as_typed_shape(&self) -> TypedShape<'_>

Gets the underlying shape as an enum.
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fn ccd_thickness(&self) -> f32

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fn ccd_angular_thickness(&self) -> f32

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fn compute_bounding_sphere( &self, position: &Isometry<f32, Unit<Complex<f32>>, 2>, ) -> BoundingSphere

Computes the bounding-sphere of this shape with the given position.
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fn is_convex(&self) -> bool

Is this shape known to be convex? Read more
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fn as_support_map(&self) -> Option<&dyn SupportMap>

Convents this shape into its support mapping, if it has one.
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fn as_composite_shape(&self) -> Option<&dyn SimdCompositeShape>

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fn as_polygonal_feature_map(&self) -> Option<(&dyn PolygonalFeatureMap, f32)>

Converts this shape to a polygonal feature-map, if it is one.
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fn feature_normal_at_point( &self, _feature: FeatureId, _point: &OPoint<f32, Const<2>>, ) -> Option<Unit<Matrix<f32, Const<2>, Const<1>, ArrayStorage<f32, 2, 1>>>>

The shape’s normal at the given point located on a specific feature.
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fn compute_swept_aabb( &self, start_pos: &Isometry<f32, Unit<Complex<f32>>, 2>, end_pos: &Isometry<f32, Unit<Complex<f32>>, 2>, ) -> Aabb

Computes the swept Aabb of this shape, i.e., the space it would occupy by moving from the given start position to the given end position.
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impl<Storage> Copy for GenericHeightField<Storage>
where Storage: HeightFieldStorage, <Storage as HeightFieldStorage>::Heights: Copy, <Storage as HeightFieldStorage>::Status: Copy,

Auto Trait Implementations§

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impl<Storage> Freeze for GenericHeightField<Storage>
where <Storage as HeightFieldStorage>::Heights: Freeze, <Storage as HeightFieldStorage>::Status: Freeze,

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impl<Storage> RefUnwindSafe for GenericHeightField<Storage>

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impl<Storage> Send for GenericHeightField<Storage>
where <Storage as HeightFieldStorage>::Heights: Send, <Storage as HeightFieldStorage>::Status: Send,

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impl<Storage> Sync for GenericHeightField<Storage>
where <Storage as HeightFieldStorage>::Heights: Sync, <Storage as HeightFieldStorage>::Status: Sync,

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impl<Storage> Unpin for GenericHeightField<Storage>
where <Storage as HeightFieldStorage>::Heights: Unpin, <Storage as HeightFieldStorage>::Status: Unpin,

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impl<Storage> UnwindSafe for GenericHeightField<Storage>

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fn tap_deref_dbg<T>(self, func: impl FnOnce(&T)) -> Self
where Self: Deref<Target = T>, T: ?Sized,

Calls .tap_deref() only in debug builds, and is erased in release builds.
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fn tap_deref_mut_dbg<T>(self, func: impl FnOnce(&mut T)) -> Self
where Self: DerefMut<Target = T> + Deref, T: ?Sized,

Calls .tap_deref_mut() only in debug builds, and is erased in release builds.
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impl<T> ToOwned for T
where T: Clone,

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type Owned = T

The resulting type after obtaining ownership.
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fn to_owned(&self) -> T

Creates owned data from borrowed data, usually by cloning. Read more
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fn clone_into(&self, target: &mut T)

Uses borrowed data to replace owned data, usually by cloning. Read more
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impl<T, U> ToSample<U> for T
where U: FromSample<T>,

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fn to_sample_(self) -> U

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impl<T> TryConv for T

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fn try_conv<T>(self) -> Result<T, Self::Error>
where Self: TryInto<T>,

Attempts to convert self into T using TryInto<T>. Read more
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impl<T, U> TryFrom<U> for T
where U: Into<T>,

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type Error = Infallible

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

Performs the conversion.
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impl<T, U> TryInto<U> for T
where U: TryFrom<T>,

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type Error = <U as TryFrom<T>>::Error

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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fn clone_type_data(&self) -> Box<dyn TypeData>

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impl<T> Upcast<T> for T

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fn upcast(&self) -> Option<&T>

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impl<V, T> VZip<V> for T
where V: MultiLane<T>,

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fn vzip(self) -> V

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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<S, T> Duplex<S> for T
where T: FromSample<S> + ToSample<S>,

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impl<T> SerializableAny for T
where T: 'static + Any + Clone + for<'a> Send + Sync,