利用三角极坐标变换处理数值计算中的奇异积分问题；

The singular integral problems emerged in calculations were solved through triangular polar coordinate transformation;

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首先，让我们将经过变换处理的平面顶点放入到裁剪空间里，然后设置其的纹理坐标。

First, let's start off by just transforming the plane vertices into clip space and setting their texture co-ordinates.

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采用该映射方法，在普通的PC机上即可完成实时坐标变换及对回波采样数据的进一步处理。

By this mapping method, the real time coordinate conversion and processing of the echo signal become possible to perform for an ordinary PC.

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