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There's symphonia for audio, although it's quite low-level. rodio is a better choice if you just want to play some sounds.
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Take a look at the FFmpeg repo, porting all that code to safe Rust would take man years. So, if you don't care about the patent issues, your best bet is to use some FFmpeg wrapper crate.
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There's also video4linux2 hardware decode APIs and various vendor-specific libraries, e.g. Rockchip's. On many particular platforms, doing hardware decoding without ffmpeg seems pretty approachable. Even making a nice combo library that supports a variety of them seems feasible. And obviously when the hardware's available (exists, the right kernel drivers are loaded, the C library's around if necessary, the permissions are right, it's not busy, etc.) hardware seems preferable. But it'd be nice to also support a fallback to software and then we're back to ffmpeg.
