I have a torus which I set translation to (0,2,2), rotation to (90,0,0) and 
move the pivot to (5,2,0).

Now I center the pivot on the object and none of these values change 
whereas in other 3d apps translation does actually change when the pivot is 
centered. Reading up on how this works, in the xform 
<http://download.autodesk.com/global/docs/maya2014/en_us/CommandsPython/xform.html>command
 
or MTransformationMatrix 
<http://download.autodesk.com/us/maya/2011help/API/class_m_transformation_matrix.html>they
 
have the transformation matrix as 

[Sp]x[S]x[Sh]x[Sp]x[St]x[Rp]x[Ro]x[R]x[Rp]x[Rt]x[T]

*with Rt being the "Rotate pivot translation" which is translation 
introduced to preserve exisitng rotate transformations when moving pivot. 
This is used to prevent the object from moving when the objects pivot point 
is not at the origin and the pivot is moved. [Rt]*

I'm interested in how this matrix works, after trying unsuccessfully to use 
that transformation order in a small openGL plugin. Does anyone know how 
this works wrt centering pivot and keeping existing values?

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