How to rotate object around local axis in OpenGL?

One thing to note is that glTranslate function builds on previous translations. I.E. a glTranslatef(0.0,0.0,0.0); won't go to the origin, it will just move the "pen" nowhere. Luckily, the "pen" starts at the origin.

If you translate out to 1.0,1.0,1.0 then try a glTranslatef(0.0,0.0,0.0); you will still be drawing at 1.0,1.0,1.0.

I looked at your code and assuming that code performing bezierInterp and axis angle is correct. Based on code, I have following suggestions.

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