// p’ = M3 * M2 * M1 * p (OpenGL uses Column-Major Order)
// p’= R T p (red) => translate, and then rotate
// p’= T R p (green) => rotate, and then translate
// p’= T R S p (blue) => scale, and then rotate, and then translate

OpenGL 1.x or 2.x
http://dis.dankook.ac.kr/lectures/cg10/entry/Transform

OpenGL 3.x or 4.x using GLM
http://dis.dankook.ac.kr/lectures/cg14/entry/OpenGLGLM-Transformation-Column-Major-Order