docs: def from_transform(cls, matrix):
          r"""
          :param matrix: 4x4 3d affine transform matrix
          :type matrix: :class:`FreeCAD.Matrix`
          :return: a unit, zero offset coordinate system transformed by the given matrix
          :rtype: :class:`CoordSystem`
  
          Individual rotation & translation matricies are:
  
          .. math::
  
              R_z & = \begin{bmatrix}
                  cos(\alpha) & -sin(\alpha) & 0 & 0 \\
                  sin(\alpha) & cos(\alpha) & 0 & 0 \\
                  0 & 0 & 1 & 0 \\
                  0 & 0 & 0 & 1
              \end{bmatrix} \qquad & R_y & = \begin{bmatrix}
                  cos(\beta) & 0 & sin(\beta) & 0 \\
                  0 & 1 & 0 & 0 \\
                  -sin(\beta) & 0 & cos(\beta) & 0 \\
                  0 & 0 & 0 & 1
              \end{bmatrix} \\
              \\
              R_x & = \begin{bmatrix}
                  1 & 0 & 0 & 0 \\
                  0 & cos(\gamma) & -sin(\gamma) & 0 \\
                  0 & sin(\gamma) & cos(\gamma) & 0 \\
                  0 & 0 & 0 & 1
              \end{bmatrix} \qquad & T_{\text{xyz}} & = \begin{bmatrix}
                  1 & 0 & 0 & \delta x \\
                  0 & 1 & 0 & \delta y \\
                  0 & 0 & 1 & \delta z \\
                  0 & 0 & 0 & 1
              \end{bmatrix}
  
          The ``transform`` is the combination of these:
  
          .. math::
  
              transform = T_{\text{xyz}} \cdot R_z \cdot R_y \cdot R_x = \begin{bmatrix}
                  a & b & c & \delta x \\
                  d & e & f & \delta y \\
                  g & h & i & \delta z \\
                  0 & 0 & 0 & 1
              \end{bmatrix}
  
          Where:
  
          .. math::
  
              a & = cos(\alpha) cos(\beta) \\
              b & = cos(\alpha) sin(\beta) sin(\gamma) - sin(\alpha) cos(\gamma) \\
              c & = cos(\alpha) sin(\beta) cos(\gamma) + sin(\alpha) sin(\gamma) \\
              d & = sin(\alpha) cos(\beta) \\
              e & = sin(\alpha) sin(\beta) sin(\gamma) + cos(\alpha) cos(\gamma) \\
              f & = sin(\alpha) sin(\beta) cos(\gamma) - cos(\alpha) sin(\gamma) \\
              g & = -sin(\beta) \\
              h & = cos(\beta) sin(\gamma) \\
              i & = cos(\beta) cos(\gamma)
          """
          # Create reference points at origin
          offset = FreeCAD.Vector(0, 0, 0)
          x_vertex = FreeCAD.Vector(1, 0, 0)  # vertex along +X-axis
          z_vertex = FreeCAD.Vector(0, 0, 1)  # vertex along +Z-axis
  
          # Transform reference points
          offset = matrix.multiply(offset)
          x_vertex = matrix.multiply(x_vertex)
          z_vertex = matrix.multiply(z_vertex)
  
          # Get axis vectors (relative to offset vertex)
          x_axis = x_vertex - offset
          z_axis = z_vertex - offset
  
          # Return new instance
          vect_tuple = lambda v: (v.x, v.y, v.z)
          return cls(
              origin=vect_tuple(offset),
              xDir=vect_tuple(x_axis),
              normal=vect_tuple(z_axis),
          )