感觉这几篇文章对OpenGL中的矩阵变换解释的比较好:
OpenGL Transformation http://www.songho.ca/opengl/gl_transform.html
OpenGL Projection Matrix http://www.songho.ca/opengl/gl_projectionmatrix.html
OpenGL Normal Vector Transformation http://www.songho.ca/opengl/gl_normaltransform.html
Homogeneous Coordinates http://www.songho.ca/math/homogeneous/homogeneous.html