If you rotate an object around its Y-axis, you'll find that the X- and Z-axes rotate with the object. A subsequent rotation around one of these axes rotates around the newly transformed axis and not the original axis.

I want to perform transformations in a fixed coordinate system rather than the object¡¯s local coordinate system.

can anybody give me some hints?( I don't want to use quaternion.)

in opengl, how to perform matrix inverse?