The rotation direction of the esRotate is inverted

[cook]

For example, esRotate(45, 0.f, 0.f, 1.f) should rotate counter clockwised but clockwised actually.

From the other codes, such as the implementation of the function esTranslate and the transpose parameter of the glUniformMatrix4fv always being setted to GL_FALSE, the model matrix is seemed to be column majored, but the implementation of the esRotate and esMatrixMultiply are row majored.

How confusing the codes are!