feat(3drotate): rotate about an axis picked in space

3DROTATE (ROTATE3D) took the drawing's rotation path, so a polyline only
turned in its own plane. It now asks for a base point, an axis — X, Y, Z
or a second point — and an angle, and rotates the selection about that
axis in space.

Fixes #1641

Co-Authored-By: Claude Opus 5.5 <[email protected]>

locales/ar-SA/opencadstudio.ftl

@@ -2349,6 +2349,9 @@ common =
     .chspace-to-paper = CHSPACE: تم نقل __ocs_fmt_0__ كائن إلى فضاء الورق.
     .chspace-to-model = CHSPACE: تم نقل __ocs_fmt_0__ كائن إلى فضاء النموذج.
     .select-template-title = تحديد قالب
+    .threedrotate-specify-base-point-count-objects = 3DROTATE  حدد نقطة الأساس [__ocs_arg_count__ كائنات]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  حدد محور الدوران [X/Y/Z] أو نقطة ثانية عليه <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE  حدد زاوية الدوران <__ocs_arg_a__>:
 errors =
     .save-warning = تحذير الحفظ
     .unable-to-save-drawing = تعذر حفظ الرسم

locales/bg-BG/opencadstudio.ftl

@@ -2336,6 +2336,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ обекта преместени в пространството на листа.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ обекта преместени в пространството на модела.
     .select-template-title = Избор на шаблон
+    .threedrotate-specify-base-point-count-objects = 3DROTATE  Посочи базова точка  [__ocs_arg_count__ обекта]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Посочете ос на завъртане [X/Y/Z] или втора точка от нея <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE  Посочи ъгъл на завъртане  <__ocs_arg_a__>:
 errors =
     .save-warning = Предупреждение при запазване
     .unable-to-save-drawing = Чертежът не може да бъде запазен

locales/cs-CZ/opencadstudio.ftl

@@ -2336,6 +2336,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ objektů přesunuto do výkresového prostoru.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ objektů přesunuto do modelového prostoru.
     .select-template-title = Vybrat šablonu
+    .threedrotate-specify-base-point-count-objects = 3DROTATE Zadejte základní bod [objekty __ocs_arg_count__]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Zadejte osu otáčení [X/Y/Z] nebo druhý bod na ní <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE Zadejte úhel natočení <__ocs_arg_a__>:
 errors =
     .save-warning = Uložit varování
     .unable-to-save-drawing = Nákres nelze uložit

locales/de-DE/opencadstudio.ftl

@@ -2337,6 +2337,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ Objekt(e) in den Papierbereich verschoben.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ Objekt(e) in den Modellbereich verschoben.
     .select-template-title = Vorlage auswählen
+    .threedrotate-specify-base-point-count-objects = 3DROTATE Basispunkt angeben [__ocs_arg_count__ Objekte]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Drehachse angeben [X/Y/Z] oder einen zweiten Punkt darauf <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE Drehwinkel angeben <__ocs_arg_a__>:
 errors =
     .save-warning = Warnhinweise speichern
     .unable-to-save-drawing = Zeichnung konnte nicht gespeichert werden

locales/el-GR/opencadstudio.ftl

@@ -2336,6 +2336,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ αντικείμενα μεταφέρθηκαν στον χώρο χαρτιού.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ αντικείμενα μεταφέρθηκαν στον χώρο μοντέλου.
     .select-template-title = Επιλογή προτύπου
+    .threedrotate-specify-base-point-count-objects = 3DROTATE  Ορίστε σημείο βάσης  [__ocs_arg_count__ αντικείμενα]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Ορίστε άξονα περιστροφής [X/Y/Z] ή δεύτερο σημείο του <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE  Ορίστε γωνία περιστροφής  <__ocs_arg_a__>:
 errors =
     .save-warning = Προειδοποίηση αποθήκευσης
     .unable-to-save-drawing = Αδυναμία αποθήκευσης σχεδίου

locales/en-US/opencadstudio.ftl

@@ -2337,6 +2337,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ object(s) changed to paper space.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ object(s) changed to model space.
     .select-template-title = Select Template
+    .threedrotate-specify-base-point-count-objects = 3DROTATE  Specify base point  [__ocs_arg_count__ objects]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Specify rotation axis [X/Y/Z] or a second point on it <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE  Specify rotation angle  <__ocs_arg_a__>:
 errors =
     .save-warning = Save Warning
     .unable-to-save-drawing = Unable to Save Drawing

locales/es-ES/opencadstudio.ftl

@@ -2337,6 +2337,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ objeto(s) pasado(s) al espacio papel.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ objeto(s) pasado(s) al espacio modelo.
     .select-template-title = Seleccionar plantilla
+    .threedrotate-specify-base-point-count-objects = 3DROTATE  Especifique el punto base [__ocs_arg_count__ objetos]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Precise el eje de giro [X/Y/Z] o un segundo punto en él <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE  Precise el ángulo de giro  <__ocs_arg_a__>:
 errors =
     .save-warning = Advertencia de guardado
     .unable-to-save-drawing = No se puede guardar el dibujo

locales/fi-FI/opencadstudio.ftl

@@ -2336,6 +2336,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ objektia siirretty paperitilaan.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ objektia siirretty mallitilaan.
     .select-template-title = Valitse malli
+    .threedrotate-specify-base-point-count-objects = 3DROTATE Määritä peruspiste [__ocs_arg_count__ objektit]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Määritä kiertoakseli [X/Y/Z] tai sen toinen piste <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE Määritä kiertokulma <__ocs_arg_a__>:
 errors =
     .save-warning = Tallenna varoitus
     .unable-to-save-drawing = Piirustusta ei voi tallentaa

locales/fr-FR/opencadstudio.ftl

@@ -2337,6 +2337,9 @@ common =
     .chspace-to-paper = CHSPACE : __ocs_fmt_0__ objet(s) déplacé(s) dans l'espace papier.
     .chspace-to-model = CHSPACE : __ocs_fmt_0__ objet(s) déplacé(s) dans l'espace objet.
     .select-template-title = Sélectionner un gabarit
+    .threedrotate-specify-base-point-count-objects = 3DROTATE Spécifier le point de base [__ocs_arg_count__ objets]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Spécifiez l'axe de rotation [X/Y/Z] ou un second point sur celui-ci <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE Spécifier l'angle de rotation <__ocs_arg_a__:
 errors =
     .save-warning = Enregistrer l' avertissement
     .unable-to-save-drawing = Impossible de sauvegarder le dessin

locales/hi-IN/opencadstudio.ftl

@@ -2325,6 +2325,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ ऑब्जेक्ट पेपर स्पेस में बदले गए।
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ ऑब्जेक्ट मॉडल स्पेस में बदले गए।
     .select-template-title = टेम्पलेट चुनें
+    .threedrotate-specify-base-point-count-objects = 3DROTATE आधार बिंदु निर्दिष्ट करें [__ocs_arg_count__ ऑब्जेक्ट]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  घूर्णन अक्ष [X/Y/Z] या उस पर दूसरा बिंदु निर्दिष्ट करें <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE घूर्णन कोण को निर्दिष्ट करें <__ocs_arg_a__:
 errors =
     .save-warning = चेतावनी सहेजें
     .unable-to-save-drawing = ड्रॉइंग सहेजी नहीं जा सकी

locales/hu-HU/opencadstudio.ftl

@@ -2336,6 +2336,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ objektum papírtérbe helyezve.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ objektum modelltérbe helyezve.
     .select-template-title = Sablon kiválasztása
+    .threedrotate-specify-base-point-count-objects = 3DROTATE Alappont megadása [__ocs_arg_count__ objektumok]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Adja meg a forgástengelyt [X/Y/Z] vagy egy második pontját <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE Forgatási szög megadása <__ocs_arg_a__>:
 errors =
     .save-warning = Figyelmeztetés mentése
     .unable-to-save-drawing = Nem sikerült menteni a rajzot

locales/it-IT/opencadstudio.ftl

@@ -2336,6 +2336,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ oggetto/i spostato/i nello spazio carta.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ oggetto/i spostato/i nello spazio modello.
     .select-template-title = Seleziona modello
+    .threedrotate-specify-base-point-count-objects = 3DROTATE Specificare il punto base [oggetti __ocs_arg_count__]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Specificare l'asse di rotazione [X/Y/Z] o un secondo punto su di esso <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE Specificare l'angolo di rotazione <__ocs_arg_a__>:
 errors =
     .save-warning = Salva avviso
     .unable-to-save-drawing = Impossibile salvare il disegno

locales/ja-JP/opencadstudio.ftl

@@ -2327,6 +2327,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ 個のオブジェクトをペーパー空間に移動しました。
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ 個のオブジェクトをモデル空間に移動しました。
     .select-template-title = テンプレートを選択
+    .threedrotate-specify-base-point-count-objects = 3DROTATE  基点を指定 [__ocs_arg_count__ 個]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  回転軸 [X/Y/Z] または軸上の 2 点目を指定 <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE  回転角度を指定 <__ocs_arg_a__>:
 errors =
     .save-warning = 保存の警告
     .unable-to-save-drawing = 図面を保存できません

locales/ko-KR/opencadstudio.ftl

@@ -2336,6 +2336,9 @@ common =
     .chspace-to-paper = CHSPACE: 객체 __ocs_fmt_0__개를 도면 공간으로 옮겼습니다.
     .chspace-to-model = CHSPACE: 객체 __ocs_fmt_0__개를 모형 공간으로 옮겼습니다.
     .select-template-title = 템플릿 선택
+    .threedrotate-specify-base-point-count-objects = 3DROTATE 기준점 지정 [__ocs_arg_count__ 객체]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  회전 축 [X/Y/Z] 또는 축 위의 두 번째 점 지정 <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE 회전 각도 <__ocs_arg_a__> 지정:
 errors =
     .save-warning = 경고 저장
     .unable-to-save-drawing = 도면을 저장할 수 없습니다

locales/nl-NL/opencadstudio.ftl

@@ -2337,6 +2337,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ object(en) naar de papierruimte verplaatst.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ object(en) naar de modelruimte verplaatst.
     .select-template-title = Sjabloon selecteren
+    .threedrotate-specify-base-point-count-objects = 3DROTATE Basispunt [__ocs_arg_count__ objecten] opgeven:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Geef de rotatieas op [X/Y/Z] of een tweede punt erop <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE Rotatiehoek <__ocs_arg_a__> opgeven:
 errors =
     .save-warning = Waarschuwing opslaan
     .unable-to-save-drawing = Kan tekening niet opslaan

locales/pl-PL/opencadstudio.ftl

@@ -2336,6 +2336,9 @@ common =
     .chspace-to-paper = CHSPACE: przeniesiono obiekty do obszaru papieru: __ocs_fmt_0__.
     .chspace-to-model = CHSPACE: przeniesiono obiekty do obszaru modelu: __ocs_fmt_0__.
     .select-template-title = Wybierz szablon
+    .threedrotate-specify-base-point-count-objects = 3DROTATE Określ punkt bazowy [obiekty __ocs_arg_count__]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Określ oś obrotu [X/Y/Z] lub drugi punkt na niej <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE Określ kąt obrotu <__ocs_arg_a__>:
 errors =
     .save-warning = Zapisz ostrzeżenie
     .unable-to-save-drawing = Nie można zapisać rysunku

locales/pt-BR/opencadstudio.ftl

@@ -2337,6 +2337,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ objeto(s) movido(s) para o espaço do papel.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ objeto(s) movido(s) para o espaço do modelo.
     .select-template-title = Selecionar modelo
+    .threedrotate-specify-base-point-count-objects = 3DROTATE  Especifique o ponto base [__ocs_arg_count__ objetos]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Especifique o eixo de rotação [X/Y/Z] ou um segundo ponto nele <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE  Especifique o ângulo de rotação <__ocs_arg_a__>:
 errors =
     .save-warning = Aviso de salvamento
     .unable-to-save-drawing = Não foi possível salvar o desenho

locales/ru-RU/opencadstudio.ftl

@@ -2340,6 +2340,9 @@ common =
     .chspace-to-paper = CHSPACE: перенесено в пространство листа объектов: __ocs_fmt_0__.
     .chspace-to-model = CHSPACE: перенесено в пространство модели объектов: __ocs_fmt_0__.
     .select-template-title = Выбор шаблона
+    .threedrotate-specify-base-point-count-objects = 3DROTATE Укажите базовую точку [__ocs_arg_count__ объекты]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Укажите ось поворота [X/Y/Z] или вторую точку на ней <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE Укажите угол поворота <__ocs_arg_a__>
 errors =
     .save-warning = Спасти предостережение
     .unable-to-save-drawing = Не удалось сохранить чертёж

locales/tr-TR/opencadstudio.ftl

@@ -2321,6 +2321,9 @@ common =
     .chspace-to-paper = CHSPACE: __ocs_fmt_0__ nesne kağıt alanına taşındı.
     .chspace-to-model = CHSPACE: __ocs_fmt_0__ nesne model alanına taşındı.
     .select-template-title = Şablon Seç
+    .threedrotate-specify-base-point-count-objects = 3DROTATE  Taban noktasını belirtin [__ocs_arg_count__ nesne]:
+    .threedrotate-specify-rotation-axis = 3DROTATE  Döndürme eksenini [X/Y/Z] ya da eksen üzerinde ikinci bir noktayı belirtin <Z>:
+    .threedrotate-specify-rotation-angle-a = 3DROTATE  Döndürme açısını belirtin <__ocs_arg_a__>:
 errors =
     .save-warning = Kaydetme Uyarısı
     .unable-to-save-drawing = Çizim Kaydedilemiyor

locales/zh-CN/opencadstudio.ftl

@@ -2324,6 +2324,9 @@ common =
     .chspace-to-paper = CHSPACE: 已将 __ocs_fmt_0__ 个对象移到图纸空间。
     .chspace-to-model = CHSPACE: 已将 __ocs_fmt_0__ 个对象移到模型空间。
     .select-template-title = 选择样板
+    .threedrotate-specify-base-point-count-objects = 3DROTATE  指定基点  [__ocs_arg_count__ 个对象]：
+    .threedrotate-specify-rotation-axis = 3DROTATE  指定旋转轴 [X/Y/Z] 或轴上的第二点 <Z>：
+    .threedrotate-specify-rotation-angle-a = 3DROTATE  指定旋转角度  <__ocs_arg_a__>：
 errors =
     .save-warning = 保存警告
     .unable-to-save-drawing = 无法保存图形

locales/zh-TW/opencadstudio.ftl

@@ -2336,6 +2336,9 @@ common =
     .chspace-to-paper = CHSPACE: 已將 __ocs_fmt_0__ 個物件移到圖紙空間。
     .chspace-to-model = CHSPACE: 已將 __ocs_fmt_0__ 個物件移到模型空間。
     .select-template-title = 選取樣板
+    .threedrotate-specify-base-point-count-objects = 3DROTATE  指定基點  [__ocs_arg_count__ 個物件]：
+    .threedrotate-specify-rotation-axis = 3DROTATE  指定旋轉軸 [X/Y/Z] 或軸上的第二點 <Z>：
+    .threedrotate-specify-rotation-angle-a = 3DROTATE  指定旋轉角度  <__ocs_arg_a__>：
 errors =
     .save-warning = 儲存警告
     .unable-to-save-drawing = 無法儲存圖形

src/app/commands/draw.rs

@@ -2484,21 +2484,26 @@ impl OpenCADStudio {
             }
 
             // 3DROTATE [X|Y|Z] <angle> — rotate the selected solid about an axis.
+            // 3DROTATE — any objects about an axis through a base point.
             "3DROTATE" | "ROTATE3D" => {
-                use crate::command::SelectThenKeywordCommand;
-                let has_sel = !self.tabs[i].scene.selected_entities().is_empty();
-                let c = SelectThenKeywordCommand::new(
-                    "3DROTATE",
-                    "3DROTATE  rotation axis  [X / Y / Z]:",
-                    vec![
-                        ("X", "X", Some("3DROTATE  angle in degrees:")),
-                        ("Y", "Y", Some("3DROTATE  angle in degrees:")),
-                        ("Z", "Z", Some("3DROTATE  angle in degrees:")),
-                    ],
-                    has_sel,
-                );
-                self.command_line.push_info(&c.prompt());
-                self.tabs[i].active_cmd = Some(Box::new(c));
+                let handles: Vec<_> = self.tabs[i]
+                    .scene
+                    .selected_entities()
+                    .into_iter()
+                    .map(|(h, _)| h)
+                    .collect();
+                if handles.is_empty() {
+                    use crate::modules::draw::select::SelectObjectsCommand;
+                    let cmd = SelectObjectsCommand::new("3DROTATE");
+                    self.command_line.push_info(&cmd.prompt());
+                    self.tabs[i].active_cmd = Some(Box::new(cmd));
+                } else {
+                    use crate::modules::draw::modify::rotate::RotateCommand;
+                    let wires = self.tabs[i].scene.wire_models_for(&handles);
+                    let new_cmd = RotateCommand::new_3d(handles, wires);
+                    self.command_line.push_info(&new_cmd.prompt());
+                    self.tabs[i].active_cmd = Some(Box::new(new_cmd));
+                }
             }
             cmd if cmd.starts_with("3DROTATE ") || cmd.starts_with("ROTATE3D ") => {
                 let parts: Vec<String> = cmd

src/locale_catalog.rs

@@ -4878,6 +4878,9 @@ pub(super) fn message_attribute(source: &str) -> Option<(&'static str, &'static
         "Unknown command: {}" => Some(("command", "unknown-command-cmd")),
         "Unsaved changes will be discarded." => Some(("common", "unsaved-changes-will-be-discarded")),
         "Discard & close" => Some(("common", "discard-close")),
+        "3DROTATE  Specify base point  [%{count} objects]:" => Some(("common", "threedrotate-specify-base-point-count-objects")),
+        "3DROTATE  Specify rotation axis [X/Y/Z] or a second point on it <Z>:" => Some(("common", "threedrotate-specify-rotation-axis")),
+        "3DROTATE  Specify rotation angle  <%{a}>:" => Some(("common", "threedrotate-specify-rotation-angle-a")),
         "Select Template" => Some(("common", "select-template-title")),
         "CHSPACE: Command not allowed in the Model tab." => Some(("common", "chspace-model-tab")),
         "CHSPACE: No plan-view viewport to change space through." => Some(("common", "chspace-no-viewport")),

src/modules/draw/modify/rotate.rs

@@ -36,6 +36,8 @@ pub fn tool() -> ToolDef {
 
 enum Step {
     Center,
+    /// 3DROTATE: the axis through the base point.
+    Axis { center: DVec3 },
     Angle { center: DVec3 },
     RefFirst { center: DVec3 },
     RefSecond { center: DVec3, first: DVec3 },
@@ -48,6 +50,11 @@ pub struct RotateCommand {
     step: Step,
     default_angle: f64, // degrees
     plane: WorkingPlane,
+    /// 3DROTATE: ask for the axis, then measure the angle in the plane square
+    /// to it.
+    spatial: bool,
+    /// The plane is the one square to the chosen axis, not the UCS.
+    axis_chosen: bool,
 }
 
 impl RotateCommand {
@@ -58,9 +65,35 @@ impl RotateCommand {
             step: Step::Center,
             default_angle: defaults::get_rotate_angle(),
             plane: WorkingPlane::default(),
+            spatial: false,
+            axis_chosen: false,
         }
     }
 
+    /// 3DROTATE: any objects, about any axis through a base point.
+    pub fn new_3d(handles: Vec<Handle>, wire_models: Vec<WireModel>) -> Self {
+        Self { spatial: true, ..Self::new(handles, wire_models) }
+    }
+
+    /// Turn about `axis` through `center`: the angle is then read in the plane
+    /// square to it, so every later step works as in a plain rotation.
+    fn choose_axis(&mut self, center: DVec3, axis: DVec3) -> CmdResult {
+        let Some(axis) = axis.try_normalize() else {
+            return CmdResult::NeedPoint;
+        };
+        // The UCS X laid into that plane, or Y when X runs along the axis.
+        let reference = [self.plane.x, self.plane.y]
+            .into_iter()
+            .map(|direction| direction - axis * direction.dot(axis))
+            .find(|direction| direction.length() > 1e-6)
+            .unwrap_or(DVec3::X);
+        let x = reference.normalize();
+        self.plane = WorkingPlane::new(center, x, axis.cross(x));
+        self.axis_chosen = true;
+        self.step = Step::Angle { center };
+        CmdResult::NeedPoint
+    }
+
     fn commit(&self, center: DVec3, angle_rad: f64) -> CmdResult {
         defaults::set_rotate_angle(angle_rad.to_degrees());
         CmdResult::TransformSelected(
@@ -138,20 +171,38 @@ impl RotateCommand {
 
 impl CadCommand for RotateCommand {
     fn set_working_plane(&mut self, plane: WorkingPlane) {
-        self.plane = plane;
+        if !self.axis_chosen {
+            self.plane = plane;
+        }
     }
 
     fn name(&self) -> &'static str {
-        "ROTATE"
+        if self.spatial {
+            "3DROTATE"
+        } else {
+            "ROTATE"
+        }
     }
 
     fn prompt(&self) -> String {
         match &self.step {
+            Step::Center if self.spatial => t!(
+                "3DROTATE  Specify base point  [%{count} objects]:",
+                count = self.handles.len()
+            )
+            .into_owned(),
             Step::Center => t!(
                 "ROTATE  Specify rotation center  [%{count} objects]:",
                 count = self.handles.len()
             )
             .into_owned(),
+            Step::Axis { .. } => {
+                t!("3DROTATE  Specify rotation axis [X/Y/Z] or a second point on it <Z>:").into_owned()
+            }
+            Step::Angle { .. } if self.spatial => {
+                let a = format!("{:.4}", self.default_angle);
+                t!("3DROTATE  Specify rotation angle  <%{a}>:", a = a).into_owned()
+            }
             Step::Angle { .. } => {
                 let a = format!("{:.4}", self.default_angle);
                 t!("ROTATE  Specify rotation angle  <%{a}>:", a = a).into_owned()
@@ -172,6 +223,7 @@ impl CadCommand for RotateCommand {
     fn options(&self) -> Vec<crate::command::CmdOption> {
         use crate::command::CmdOption;
         match self.step {
+            Step::Axis { .. } => ["X", "Y", "Z"].map(|axis| CmdOption::new(axis, axis)).to_vec(),
             Step::Angle { .. } => vec![CmdOption::new(t!("Reference").as_ref(), "R")],
             _ => vec![],
         }
@@ -179,10 +231,18 @@ impl CadCommand for RotateCommand {
 
     fn on_point(&mut self, pt: DVec3) -> CmdResult {
         match &self.step {
+            Step::Center if self.spatial => {
+                self.step = Step::Axis { center: pt };
+                CmdResult::NeedPoint
+            }
             Step::Center => {
                 self.step = Step::Angle { center: pt };
                 CmdResult::NeedPoint
             }
+            Step::Axis { center } => {
+                let center = *center;
+                self.choose_axis(center, pt - center)
+            }
             Step::Angle { center } => {
                 let center = *center;
                 let Some(angle_rad) = self.plane.angle(center, pt) else {
@@ -214,6 +274,11 @@ impl CadCommand for RotateCommand {
     }
 
     fn on_enter(&mut self) -> CmdResult {
+        // The axis defaults to the UCS Z.
+        if let Step::Axis { center } = &self.step {
+            let center = *center;
+            return self.choose_axis(center, self.plane.z);
+        }
         // At the normal angle step, Enter uses the stored default angle.
         if let Step::Angle { center } = &self.step {
             let center = *center;
@@ -228,6 +293,16 @@ impl CadCommand for RotateCommand {
     fn on_text_input(&mut self, text: &str) -> Option<CmdResult> {
         let t = text.trim();
         match &self.step {
+            Step::Axis { center } => {
+                let center = *center;
+                let axis = match t.to_ascii_uppercase().as_str() {
+                    "X" => self.plane.x,
+                    "Y" => self.plane.y,
+                    "Z" => self.plane.z,
+                    _ => return None,
+                };
+                Some(self.choose_axis(center, axis))
+            }
             Step::Angle { center } => {
                 let center = *center;
                 let low = t.to_ascii_lowercase();
@@ -260,6 +335,14 @@ impl CadCommand for RotateCommand {
 
     fn on_preview_wires(&mut self, pt: DVec3) -> Vec<WireModel> {
         let (center, angle_rad, guide_angle) = match &self.step {
+            Step::Axis { center } => {
+                return vec![WireModel::solid_f64(
+                    "rotate_axis".into(),
+                    vec![center.to_array(), pt.to_array()],
+                    WireModel::CYAN,
+                    false,
+                )];
+            }
             Step::Angle { center } => {
                 let Some(angle) = self.plane.angle(*center, pt) else {
                     return vec![];