(2003) - I think this is far enough in the past that 'modern OpenGL' has to be qualified!

Edit: 2003 is the first edition, this is a draft of the second and really is modern. Thanks d-161 :)

https://mathweb.ucsd.edu/~sbuss/MathCG2/SecondEdDraft.pdf

  3-D Computer Graphics
  A Mathematical Introduction with OpenGL
  Revision draft Draft C.4.a. November 21, 2022
  Samuel R. Buss
  November 21, 2022

https://mathweb.ucsd.edu/~sbuss/MathCG2/SamBussVideos/

  This page holds videos of lectures by Sam Buss for Math 
  155A at UC San Diego, recorded in Fall 2020 during the 
  campus Covid closures.