For single row it could be done with the current structure however if you have multiple rows you need a primary or any unique key.
Consider the following
mysql> select * from test ;
+------+------+------+------+------+
| col1 | col2 | col3 | col4 | id |
+------+------+------+------+------+
| 3 | 2 | 3 | 4 | 1 |
| 4 | 7 | 1 | 3 | 2 |
+------+------+------+------+------+
Now the query would be as
select
id,
group_concat(x.col order by x.col separator '.') as colx
from (
select id,col1 as col from test
union all
select id,col2 as col from test
union all
select id,col3 as col from test
union all
select id,col4 as col from test
)x group by id
The result will look like
+------+---------+
| id | colx |
+------+---------+
| 1 | 2.3.3.4 |
| 2 | 1.3.4.7 |
+------+---------+