How to compute matrix transform local/world on OpenGL

I'm developing an OpenGL program where each object / entity contains m_WorldPosition, m_WorldOrientation, m_WorldScale and m_WorldTransform (Vector3, Quaternion, Vector3 and Matrix4f).

The problem is that these transformations are global. So I move, rotate and scale an object / entity I need to use a function that I did.

// C++
void HEntity::translate(const HVec3f& pos, const bool local)
{
    if(local) {
        m_WorldPosition += m_WorldOrientation.toMatrix3() * pos;
    } else {
        m_WorldPosition += pos;
    }

    m_NeedTransformUpdate = true;
}

I wanted to do the same as other software such as Blender or Unity3D 3D where each object / entity contains the variables position, localPosition, rotation, localRotation...

I want a similar system. Where I have the variables position, localPosition, orientation, localOrientation, scale, localScale. But I do not know how to apply it to matrix Each object / entity.

Below is the function to compute the matrix.

// C++
void HEntity::updateTransform()
{
    m_WorldTransform.identity();
    m_WorldTransform.setRotationAxis(m_WorldOrientation.getAngle(), m_WorldOrientation.getAxis());
    m_WorldTransform.scale(m_WorldScaling);
    m_WorldTransform.translate(m_WorldPosition);

    if(m_pParent) {
        m_WorldTransform =  m_pParent->m_WorldTransform * m_WorldTransform;
    }
}

And the game loop

// C++ - Game loop

HGameObject* object = NULL;
int index = 0;

for(; m_ObjectCount; index++)
{
    object = m_pObjectList[index];

    glMultMatrixf(object->m_WorldTransform.getTranspose());

    // Draw current object

    glPopMatrix();
}