From f6422e0847cd13854ad4bba3b6271fd32e87fac2 Mon Sep 17 00:00:00 2001
From: bklronin <therrmann23@gmail.com>
Date: Sun, 28 Jun 2026 22:51:52 +0200
Subject: [PATCH] - Tons of addtions

---
 .idea/workspace.xml                   |  19 +-
 src/fluency/geometry_occ/kernel.py    | 129 ++++++--
 src/fluency/geometry_occ/sketch.py    | 147 ++++++---
 src/fluency/main.py                   | 349 +++++++++++++++++++++
 src/fluency/models/data_model.py      |  28 +-
 src/fluency/rendering/occ_renderer.py | 433 +++++++++++++++++++++-----
 tests/test_geometry.py                |  54 ++++
 7 files changed, 1010 insertions(+), 149 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 9d4d8b4..66ac723 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -4,12 +4,14 @@
     <option name="autoReloadType" value="SELECTIVE" />
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="8f0bafd6-58a0-4b20-aa2b-ddc3ba278873" name="Changes" comment="- Improved sketching">
+    <list default="true" id="8f0bafd6-58a0-4b20-aa2b-ddc3ba278873" name="Changes" comment="- Tons of addtions">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/fluency/geometry_occ/kernel.py" beforeDir="false" afterPath="$PROJECT_DIR$/src/fluency/geometry_occ/kernel.py" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/fluency/geometry_occ/sketch.py" beforeDir="false" afterPath="$PROJECT_DIR$/src/fluency/geometry_occ/sketch.py" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/src/fluency/main.py" beforeDir="false" afterPath="$PROJECT_DIR$/src/fluency/main.py" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/src/fluency/rendering/__init__.py" beforeDir="false" afterPath="$PROJECT_DIR$/src/fluency/rendering/__init__.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/fluency/models/data_model.py" beforeDir="false" afterPath="$PROJECT_DIR$/src/fluency/models/data_model.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/src/fluency/rendering/occ_renderer.py" beforeDir="false" afterPath="$PROJECT_DIR$/src/fluency/rendering/occ_renderer.py" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/tests/test_geometry.py" beforeDir="false" afterPath="$PROJECT_DIR$/tests/test_geometry.py" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -263,7 +265,15 @@
       <option name="project" value="LOCAL" />
       <updated>1755369224187</updated>
     </task>
-    <option name="localTasksCounter" value="20" />
+    <task id="LOCAL-00020" summary="- Tons of addtions">
+      <option name="closed" value="true" />
+      <created>1782673954850</created>
+      <option name="number" value="00020" />
+      <option name="presentableId" value="LOCAL-00020" />
+      <option name="project" value="LOCAL" />
+      <updated>1782673954850</updated>
+    </task>
+    <option name="localTasksCounter" value="21" />
     <servers />
   </component>
   <component name="TypeScriptGeneratedFilesManager">
@@ -301,6 +311,7 @@
     <MESSAGE value="- added MIT license" />
     <MESSAGE value="- added screenshot" />
     <MESSAGE value="- added sdf folder ( doesnt work via pip or git=)" />
-    <option name="LAST_COMMIT_MESSAGE" value="- added sdf folder ( doesnt work via pip or git=)" />
+    <MESSAGE value="- Tons of addtions" />
+    <option name="LAST_COMMIT_MESSAGE" value="- Tons of addtions" />
   </component>
 </project>
\ No newline at end of file
diff --git a/src/fluency/geometry_occ/kernel.py b/src/fluency/geometry_occ/kernel.py
index 3377ed6..6954486 100644
--- a/src/fluency/geometry_occ/kernel.py
+++ b/src/fluency/geometry_occ/kernel.py
@@ -46,7 +46,11 @@ class OCGeometryKernel(GeometryKernel):
         self._mesh_tolerance: float = 0.1
 
     def _get_shape(self, obj: GeometryObject) -> Any:
-        """Extract the underlying OCC shape from a GeometryObject."""
+        """Extract the underlying OCC shape from a GeometryObject.
+
+        Returns *None* if the object carries no shape (e.g. an empty sketch) —
+        callers should check for None before using the result.
+        """
         import cadquery as cq
 
         if isinstance(obj, OCCGeometryObject):
@@ -64,7 +68,13 @@ class OCGeometryKernel(GeometryKernel):
                 if hasattr(obj.shape, "wrapped"):
                     return obj.shape.wrapped
                 return obj.shape
-        return obj.shape if obj.shape else obj
+            # No cadquery obj and no raw shape → genuinely empty.
+            return None
+        # Non-OCCGeometryObject: return its shape if present, else None.
+        # (Use explicit identity/truth checks — some OCP TopoDS objects have a
+        # falsy __bool__, so ``obj.shape if obj.shape`` is unsafe.)
+        shape = getattr(obj, "shape", None)
+        return shape if shape is not None else None
 
     def _get_cq_obj(self, obj: GeometryObject) -> Any:
         """Get CadQuery object from GeometryObject."""
@@ -157,30 +167,94 @@ class OCGeometryKernel(GeometryKernel):
         direction: Tuple[float, float, float] = (0, 0, 1),
         symmetric: bool = False,
     ) -> GeometryObject:
-        """Extrude a 2D sketch into a 3D solid.
+        """Extrude a sketch face into a 3D solid along the sketch plane normal.
 
-        *height* is extruded along *direction* (default +Z).  A negative *height*
-        extrudes in the opposite direction.  The *direction* argument is accepted
-        for API compatibility; currently only the sign of *height* is used for
-        direction (positive → +Z, negative → -Z).
+        The sketch's plane normal is read from ``sketch.metadata["normal"]``
+        (set by ``OCCSketch.build_face_geometry``); it defaults to +Z for
+        legacy objects that don't carry one.  *direction* is accepted for API
+        compatibility but ignored — the plane normal is authoritative.  A
+        negative *height* extrudes against the normal.
         """
-        import cadquery as cq
+        from OCP.gp import gp_Vec
+        from OCP.BRepPrimAPI import BRepPrimAPI_MakePrism
+        from OCP.BRepAlgoAPI import BRepAlgoAPI_Fuse
+        from OCP.TopoDS import TopoDS_Shape
 
-        cq_obj = self._get_cq_obj(sketch)
+        face = self._get_shape(sketch)
+        if face is None:
+            raise ValueError(
+                "Cannot extrude: sketch has no geometry. "
+                "Draw a closed profile before extruding."
+            )
+        # ``face`` may be a TopoDS_Face (new path) or a compound/wire from
+        # legacy cadquery objects.  If it's not already a face, build one.
+        face = self._ensure_face(face)
+        if face is None:
+            raise ValueError(
+                "Cannot extrude: sketch geometry is not a valid face. "
+                "Ensure the profile is closed (no open ends)."
+            )
 
-        if isinstance(cq_obj, cq.Workplane):
-            if symmetric:
-                solid = cq_obj.extrude(height / 2, both=True)
-            else:
-                solid = cq_obj.extrude(height)
+        normal = self._sketch_normal(sketch)
+        nx, ny, nz = normal
+
+        def _prism(h: float):
+            vec = gp_Vec(nx * h, ny * h, nz * h)
+            maker = BRepPrimAPI_MakePrism(face, vec, False, True)
+            maker.Build()
+            return maker.Shape()
+
+        if symmetric:
+            half = height / 2.0
+            pos = _prism(half)
+            neg = _prism(-half)
+            fuse = BRepAlgoAPI_Fuse(pos, neg)
+            fuse.Build()
+            solid = fuse.Shape()
         else:
-            wp = cq.Workplane("XY").add(cq_obj)
-            if symmetric:
-                solid = wp.extrude(height / 2, both=True)
-            else:
-                solid = wp.extrude(height)
+            solid = _prism(height)
 
-        return OCCGeometryObject(solid, {"type": "extrusion"})
+        return OCCGeometryObject(solid, {"type": "extrusion", "normal": normal})
+
+    @staticmethod
+    def _sketch_normal(obj: GeometryObject) -> Tuple[float, float, float]:
+        """Return the normal stored on a sketch-derived geometry object, else +Z."""
+        import numpy as np
+        meta = getattr(obj, "metadata", None) or {}
+        n = meta.get("normal")
+        if n is None:
+            return (0.0, 0.0, 1.0)
+        arr = np.asarray(n, dtype=float)
+        norm = float(np.linalg.norm(arr))
+        if norm < 1e-12:
+            return (0.0, 0.0, 1.0)
+        arr = arr / norm
+        return (float(arr[0]), float(arr[1]), float(arr[2]))
+
+    @staticmethod
+    def _ensure_face(shape: Any) -> Any:
+        """Return a ``TopoDS_Face`` from *shape*, or *None* if impossible.
+
+        If *shape* is already a face, return it unchanged; otherwise try to
+        build a planar face from it (wire/edge/compound).  Returns *None* for
+        empty/invalid input so callers can surface a clear error instead of
+        feeding a non-face to ``BRepPrimAPI_MakePrism``.
+        """
+        from OCP.TopoDS import TopoDS_Face
+        from OCP.BRepBuilderAPI import BRepBuilderAPI_MakeFace
+
+        if shape is None:
+            return None
+        if isinstance(shape, TopoDS_Face):
+            return shape
+        try:
+            maker = BRepBuilderAPI_MakeFace(shape, True)
+            maker.Build()
+            if maker.IsDone():
+                return maker.Face()
+        except Exception:
+            pass
+        return None
 
     def revolve(
         self,
@@ -189,22 +263,16 @@ class OCGeometryKernel(GeometryKernel):
         axis: Tuple[float, float, float] = (0, 0, 1),
         origin: Tuple[float, float, float] = (0, 0, 0),
     ) -> GeometryObject:
-        """Revolve a 2D sketch around an axis."""
-        import cadquery as cq
+        """Revolve a sketch face around an axis."""
         import math
 
-        # Get the OCC shape directly
+        # Get the OCC shape directly (a TopoDS_Face for new sketch geometry).
         shape = self._get_shape(sketch)
+        face = self._ensure_face(shape)
 
-        from OCP.BRepBuilderAPI import BRepBuilderAPI_MakeFace
         from OCP.gp import gp_Ax1, gp_Pnt, gp_Dir
         from OCP.BRepPrimAPI import BRepPrimAPI_MakeRevol
 
-        # Build a face from the wire/shape
-        face_maker = BRepBuilderAPI_MakeFace(shape, False)
-        face_maker.Build()
-        face = face_maker.Face()
-
         # Revolve the face around the axis
         revolve_axis = gp_Ax1(gp_Pnt(*origin), gp_Dir(*axis))
         angle_rad = math.radians(angle)
@@ -212,8 +280,7 @@ class OCGeometryKernel(GeometryKernel):
         revolver.Build()
         solid_shape = revolver.Shape()
 
-        solid = cq.Shape(solid_shape)
-        return OCCGeometryObject(solid, {"type": "revolution"})
+        return OCCGeometryObject(solid_shape, {"type": "revolution"})
 
     def loft(self, profiles: List[GeometryObject], ruled: bool = False) -> GeometryObject:
         """Create a loft between multiple profiles."""
diff --git a/src/fluency/geometry_occ/sketch.py b/src/fluency/geometry_occ/sketch.py
index 95c1dab..036b43b 100644
--- a/src/fluency/geometry_occ/sketch.py
+++ b/src/fluency/geometry_occ/sketch.py
@@ -64,6 +64,78 @@ class OCCSketch(SketchInterface):
         # Track first point as dragged/fixed for solver stability
         self._first_point_id: Optional[int] = None
 
+        # ── Workplane ───────────────────────────────────────────────────
+        # The sketch lives in a 2D UV frame on this plane.  UV coordinates
+        # map to world via:  P = origin + u*x_dir + v*y_dir
+        # where y_dir = normal × x_dir.  Defaults to the world XY plane so
+        # existing XY-only behaviour is unchanged.
+        self._wp_origin: Tuple[float, float, float] = (0.0, 0.0, 0.0)
+        self._wp_normal: Tuple[float, float, float] = (0.0, 0.0, 1.0)
+        self._wp_x_dir: Tuple[float, float, float] = (1.0, 0.0, 0.0)
+        self._wp_y_dir: Tuple[float, float, float] = (0.0, 1.0, 0.0)
+
+    # ─── Workplane management ──────────────────────────────────────────────
+
+    def set_workplane(
+        self,
+        origin: Tuple[float, float, float],
+        normal: Tuple[float, float, float],
+        x_dir: Tuple[float, float, float],
+    ) -> None:
+        """Place this sketch on an arbitrary plane in 3D.
+
+        *normal* and *x_dir* need not be unit/perpendicular — they are
+        orthonormalised here.  ``y_dir`` is derived as ``normal × x_dir``.
+        Existing UV coordinates are unchanged; only their world mapping moves.
+        """
+        import numpy as np
+
+        n = np.asarray(normal, dtype=float)
+        x = np.asarray(x_dir, dtype=float)
+        n = n / np.linalg.norm(n)
+        # Remove any component of x along n, then renormalise.
+        x = x - np.dot(x, n) * n
+        x_norm = np.linalg.norm(x)
+        if x_norm < 1e-9:
+            # x_dir is parallel to normal — pick any orthogonal basis vector.
+            fallback = np.array([1.0, 0.0, 0.0]) if abs(n[0]) < 0.9 else np.array([0.0, 1.0, 0.0])
+            x = fallback - np.dot(fallback, n) * n
+            x_norm = np.linalg.norm(x)
+        x = x / x_norm
+        y = np.cross(n, x)
+        y = y / np.linalg.norm(y)
+
+        self._wp_origin = tuple(float(v) for v in origin)
+        self._wp_normal = tuple(float(v) for v in n)
+        self._wp_x_dir = tuple(float(v) for v in x)
+        self._wp_y_dir = tuple(float(v) for v in y)
+
+    def get_workplane(self) -> Tuple[Tuple[float, float, float], ...]:
+        """Return the (origin, normal, x_dir, y_dir) of this sketch's plane."""
+        return (self._wp_origin, self._wp_normal, self._wp_x_dir, self._wp_y_dir)
+
+    def _uv_to_world(self, u: float, v: float):
+        """Map a UV point to a world ``gp_Pnt`` on the workplane."""
+        from OCP.gp import gp_Pnt
+        ox, oy, oz = self._wp_origin
+        xx, xy, xz = self._wp_x_dir
+        yx, yy, yz = self._wp_y_dir
+        return gp_Pnt(
+            ox + u * xx + v * yx,
+            oy + u * xy + v * yy,
+            oz + u * xz + v * yz,
+        )
+
+    def _circle_axis(self, u: float, v: float):
+        """Return a ``gp_Ax2`` for a circle centred at UV on the workplane."""
+        from OCP.gp import gp_Ax2, gp_Dir
+        center = self._uv_to_world(u, v)
+        return gp_Ax2(
+            center,
+            gp_Dir(*self._wp_normal),
+            gp_Dir(*self._wp_x_dir),
+        )
+
     @property
     def solver(self) -> SolverSystem:
         """Access the underlying SolveSpace solver."""
@@ -71,7 +143,13 @@ class OCCSketch(SketchInterface):
 
     @property
     def workplane(self) -> Any:
-        """Get the solver workplane entity."""
+        """Get the SolveSpace 2D solver workplane entity.
+
+        Note: this is the solver's internal 2D base, not the 3D placement
+        plane — see :meth:`set_workplane` / :meth:`workplane` (no underscore)
+        for the 3D plane.  The solver always runs in UV regardless of the
+        3D placement.
+        """
         return self._wp
 
     def _next_id(self) -> int:
@@ -576,42 +654,39 @@ class OCCSketch(SketchInterface):
     # ─── Geometry extraction for operations ────────────────────────────────
 
     def get_geometry(self) -> GeometryObject:
-        """Get the solved geometry for operations using CadQuery.
+        """Get the solved geometry as an OCC ``TopoDS_Face`` on the workplane.
 
         If the sketch has exactly one detected face (outer boundary + optional
-        holes) that face is returned as a combined face-with-holes Workplane.
-        Otherwise falls back to returning a single circle or polygon suitable
-        for extrude/revolve.
+        holes) that face is returned.  Otherwise falls back to returning a
+        single circle or polygon as a face.  The returned object carries the
+        workplane normal in ``metadata["normal"]`` so the kernel can extrude
+        along the plane normal (not a hardcoded +Z).
         """
-        import cadquery as cq
-
         faces = self.detect_faces()
         if len(faces) == 1:
             return self.build_face_geometry(faces[0])
 
-        # Fallback: return the first circle, or a polygon, or None.
+        # Fallback: wrap the first circle, or the polygon, as a single-loop face.
         if self._circles:
             for entity_id, (center_id, radius) in self._circles.items():
                 center_entity = self._entities.get(center_id)
                 if center_entity and center_entity.geometry:
                     cx, cy = center_entity.geometry
-                    wp = cq.Workplane("XY").center(cx, cy).circle(radius)
-                    obj = OCCGeometryObject(wp.val())
-                    obj._cadquery_obj = wp
-                    return obj
+                    face_dict = {
+                        "outer": {"type": "circle", "center": (cx, cy), "radius": radius},
+                        "holes": [],
+                    }
+                    return self.build_face_geometry(face_dict)
 
         points = self.get_polygon_points()
         if not points:
             return OCCGeometryObject(None)
 
-        wp = cq.Workplane("XY").moveTo(points[0].x, points[0].y)
-        for pt in points[1:]:
-            wp = wp.lineTo(pt.x, pt.y)
-        wp = wp.close()
-
-        obj = OCCGeometryObject(wp.val())
-        obj._cadquery_obj = wp
-        return obj
+        face_dict = {
+            "outer": {"type": "polygon", "points": [(p.x, p.y) for p in points]},
+            "holes": [],
+        }
+        return self.build_face_geometry(face_dict)
 
     def get_points(self) -> List[Point2D]:
         """Get all point positions from solved solver data."""
@@ -910,34 +985,33 @@ class OCCSketch(SketchInterface):
         return best
 
     def build_face_geometry(self, face: Dict[str, Any]) -> OCCGeometryObject:
-        """Build an OCC face (outer boundary + inner holes) wrapped in a Workplane.
+        """Build an OCC face (outer boundary + inner holes) on the workplane.
 
-        The returned object feeds ``OCGeometryKernel.extrude`` directly: its
-        ``_cadquery_obj`` is a Workplane whose stack holds the face, so cadquery's
-        ``Workplane.extrude`` lifts it into a solid — inner wires become
-        through-holes.
+        Wires are constructed from UV coordinates mapped through
+        :meth:`_uv_to_world`, so the resulting ``TopoDS_Face`` lies on this
+        sketch's 3D plane (not necessarily XY).  The returned object stores
+        the raw OCC face in ``.shape`` and the plane normal in
+        ``metadata["normal"]`` for the extrude kernel.
         """
-        import cadquery as cq
         from OCP.BRepBuilderAPI import (
             BRepBuilderAPI_MakePolygon, BRepBuilderAPI_MakeFace,
             BRepBuilderAPI_MakeWire, BRepBuilderAPI_MakeEdge,
         )
         from OCP.gp import gp_Pnt, gp_Circ, gp_Ax2, gp_Dir
-
         from OCP.TopoDS import TopoDS as _TopoDS
 
         def wire_loop(loop: Dict[str, Any], is_hole: bool = False):
             if loop["type"] == "polygon":
                 mp = BRepBuilderAPI_MakePolygon()
-                for (px, py) in loop["points"]:
-                    mp.Add(gp_Pnt(px, py, 0.0))
+                for (pu, pv) in loop["points"]:
+                    mp.Add(self._uv_to_world(pu, pv))
                 mp.Close()
                 mp.Build()
                 w = mp.Wire()
             else:
-                cx, cy = loop["center"]
+                cu, cv = loop["center"]
                 r = loop["radius"]
-                circ = gp_Circ(gp_Ax2(gp_Pnt(cx, cy, 0.0), gp_Dir(0, 0, 1)), r)
+                circ = gp_Circ(self._circle_axis(cu, cv), r)
                 me = BRepBuilderAPI_MakeEdge(circ)
                 me.Build()
                 mw = BRepBuilderAPI_MakeWire()
@@ -945,7 +1019,7 @@ class OCCSketch(SketchInterface):
                 mw.Build()
                 w = mw.Wire()
             if is_hole:
-                w = _TopoDS.Wire_s(w.Reversed())  # reverse orientation so OCC treats it as a hole
+                w = _TopoDS.Wire_s(w.Reversed())  # reverse so OCC treats it as a hole
             return w
 
         outer_wire = wire_loop(face["outer"], is_hole=False)
@@ -955,10 +1029,11 @@ class OCCSketch(SketchInterface):
         face_maker.Build()
         occ_face = face_maker.Face()
 
-        wp = cq.Workplane("XY")
-        wp = wp.add(cq.Face(occ_face))
-        obj = OCCGeometryObject(wp.val())
-        obj._cadquery_obj = wp
+        obj = OCCGeometryObject(occ_face, {
+            "type": "sketch_face",
+            "normal": self._wp_normal,
+            "origin": self._wp_origin,
+        })
         return obj
 
     def get_solver_dof(self) -> int:
diff --git a/src/fluency/main.py b/src/fluency/main.py
index fe4eb43..2e5c3bd 100644
--- a/src/fluency/main.py
+++ b/src/fluency/main.py
@@ -63,6 +63,7 @@ from PySide6.QtGui import (
     QFont,
     QFontMetrics,
     QCursor,
+    QPolygonF,
 )
 
 from fluency.geometry_occ.kernel import OCGeometryKernel, OCCGeometryObject
@@ -72,6 +73,66 @@ from fluency.rendering.occ_renderer import OCCRenderer
 from fluency.models.data_model import Project, Component, Sketch, Body
 
 
+def _project_face_to_uv(
+    face: Any,
+    workplane: Tuple[Tuple[float, float, float], Tuple[float, float, float], Tuple[float, float, float]],
+) -> List[List[Tuple[float, float]]]:
+    """Project a planar ``TopoDS_Face``'s boundary edges into the UV frame.
+
+    *workplane* is (origin, normal, x_dir).  Returns a list of polylines,
+    each a list of (u, v) points, one per boundary edge (lines → endpoints,
+    curves → sampled).  Used by the 2D sketch widget to draw the face as an
+    underlay when sketching on a surface.
+    """
+    import numpy as np
+    from OCP.TopExp import TopExp_Explorer
+    from OCP.TopAbs import TopAbs_EDGE, TopAbs_WIRE
+    from OCP.TopoDS import TopoDS
+    from OCP.BRepAdaptor import BRepAdaptor_Curve
+    from OCP.GeomAbs import GeomAbs_Line
+    from OCP.gp import gp_Pnt
+
+    origin = np.asarray(workplane[0], dtype=float)   # (x,y,z)
+    normal = np.asarray(workplane[1], dtype=float)   # plane normal
+    x_dir = np.asarray(workplane[2], dtype=float)    # in-plane x axis
+    x_dir = x_dir / np.linalg.norm(x_dir)
+    normal = normal / np.linalg.norm(normal)
+    y_dir = np.cross(normal, x_dir)
+    y_dir = y_dir / np.linalg.norm(y_dir)
+
+    def world_to_uv(p: gp_Pnt) -> Tuple[float, float]:
+        v = np.array([p.X() - origin[0], p.Y() - origin[1], p.Z() - origin[2]])
+        return (float(np.dot(v, x_dir)), float(np.dot(v, y_dir)))
+
+    polylines: List[List[Tuple[float, float]]] = []
+
+    # Iterate wires of the face (outer + inner = holes), then edges.
+    wire_expl = TopExp_Explorer(face, TopAbs_WIRE)
+    while wire_expl.More():
+        wire = wire_expl.Current()
+        edge_expl = TopExp_Explorer(wire, TopAbs_EDGE)
+        while edge_expl.More():
+            edge = TopoDS.Edge_s(edge_expl.Current())
+            try:
+                crv = BRepAdaptor_Curve(edge)
+                f = crv.FirstParameter()
+                l = crv.LastParameter()
+                is_line = crv.GetType() == GeomAbs_Line
+                if is_line:
+                    pts = [crv.Value(f), crv.Value(l)]
+                else:
+                    # Sample 32 segments across the parameter range.
+                    pts = [crv.Value(f + (l - f) * i / 32.0) for i in range(33)]
+                poly = [world_to_uv(p) for p in pts]
+                polylines.append(poly)
+            except Exception:
+                pass
+            edge_expl.Next()
+        wire_expl.Next()
+
+    return polylines
+
+
 class ExtrudeDialog(QDialog):
     """Dialog for extrude options."""
 
@@ -196,6 +257,13 @@ class Sketch2DWidget(QWidget):
         self._selected_face: Any = None
         self._selected_entities: List[OCCSketchEntity] = []
 
+        # Source face for sketch-on-surface: the planar face the user picked
+        # in the 3D viewer, plus its workplane (origin/normal/x_dir).  Phase 3
+        # projects this face's edges into UV and draws them as an underlay.
+        self._source_face: Any = None
+        self._source_workplane: Optional[Tuple[Tuple[float, float, float], ...]] = None
+        self._source_underlay_uv: List[Any] = []  # cached UV polylines for paintEvent
+
         self._snap_mode: Dict[str, bool] = {
             "point": True,
             "mpoint": False,
@@ -237,6 +305,69 @@ class Sketch2DWidget(QWidget):
         self._rebuild_from_sketch()
         self._draw_buffer = []
         self._clear_face_state()
+        # If the new sketch carries a workplane, refresh the source underlay.
+        self._refresh_source_underlay()
+        self.update()
+
+    def set_source_face(
+        self,
+        face: Any,
+        origin: Tuple[float, float, float],
+        normal: Tuple[float, float, float],
+        x_dir: Tuple[float, float, float],
+    ) -> None:
+        """Store the picked 3D face and reorient the 2D view to its plane.
+
+        Called by MainWindow after a face pick.  Projects the face's boundary
+        edges into the sketch's UV frame and caches them for the paintEvent
+        underlay.  Also re-centres/scales the 2D view to look down the plane.
+        """
+        self._source_face = face
+        self._source_workplane = (tuple(origin), tuple(normal), tuple(x_dir))
+        # Ensure the OCCSketch shares the same workplane so UV↔world agrees.
+        if self._sketch is not None:
+            self._sketch.set_workplane(origin, normal, x_dir)
+        self._refresh_source_underlay()
+        self._orient_view_to_plane()
+        self.update()
+
+    def _refresh_source_underlay(self) -> None:
+        """Project the source face's boundary edges into UV for the underlay."""
+        self._source_underlay_uv = []
+        if self._source_face is None or self._source_workplane is None:
+            return
+        if self._sketch is None:
+            return
+        try:
+            self._source_underlay_uv = _project_face_to_uv(
+                self._source_face, self._source_workplane
+            )
+        except Exception:
+            logger.debug("source underlay projection failed", exc_info=True)
+
+    def _orient_view_to_plane(self) -> None:
+        """Centre & scale the 2D view to fit the source face's UV bounds."""
+        if not self._source_underlay_uv:
+            return
+        # Collect all UV points across all cached polylines.
+        all_pts = [pt for poly in self._source_underlay_uv for pt in poly]
+        if not all_pts:
+            return
+        us = [p[0] for p in all_pts]
+        vs = [p[1] for p in all_pts]
+        umin, umax = min(us), max(us)
+        vmin, vmax = min(vs), max(vs)
+        cu, cv = (umin + umax) / 2.0, (vmin + vmax) / 2.0
+        du, dv = max(umax - umin, 1e-6), max(vmax - vmin, 1e-6)
+        # Zoom so the face fits with ~20% margin; offset so the face centre
+        # maps to the widget centre (world (cu,cv) → screen centre).
+        w, h = max(self.width(), 100), max(self.height(), 100)
+        self._zoom = min(w / (du * 1.2), h / (dv * 1.2))
+        # _world_to_screen: screen = world*zoom + centre + offset.
+        # We want world (cu,cv) → screen (w/2, h/2).  Solve for offset.
+        # screen_x = cu*zoom + w/2 + offset_x  →  offset_x = -cu*zoom
+        # screen_y = h/2 - cv*zoom + offset_y  →  offset_y =  cv*zoom
+        self._offset = QPoint(int(-cu * self._zoom), int(cv * self._zoom))
         self.update()
 
     def _clear_face_state(self):
@@ -1536,6 +1667,36 @@ class Sketch2DWidget(QWidget):
         painter.drawLine(origin.x() - 20, origin.y(), origin.x() + 20, origin.y())
         painter.drawLine(origin.x(), origin.y() - 20, origin.x(), origin.y() + 20)
 
+        # ── Source-face underlay (sketch-on-surface) ──
+        # Draw the picked face's boundary edges in UV as a dashed guide so the
+        # user sees the face they're drawing on, aligned to the 2D frame.
+        if self._source_underlay_uv:
+            painter.setPen(QPen(QColor("#fab387"), 1, Qt.DashLine))
+            for poly in self._source_underlay_uv:
+                if len(poly) < 2:
+                    continue
+                sp0 = self._world_to_screen(
+                    QPoint(int(round(poly[0][0])), int(round(poly[0][1])))
+                )
+                prev = sp0
+                for (u, v) in poly[1:]:
+                    sp = self._world_to_screen(
+                        QPoint(int(round(u)), int(round(v)))
+                    )
+                    painter.drawLine(prev, sp)
+                    prev = sp
+                # Close the polyline back to its start for a clean loop.
+                painter.drawLine(prev, sp0)
+            # Subtle fill hint over the first (outer) loop for readability.
+            if self._source_underlay_uv[0] and len(self._source_underlay_uv[0]) >= 3:
+                fill_poly = QPolygonF([
+                    self._world_to_screen(QPoint(int(round(u)), int(round(v))))
+                    for (u, v) in self._source_underlay_uv[0]
+                ])
+                painter.setBrush(QBrush(QColor(250, 179, 135, 28)))
+                painter.setPen(Qt.NoPen)
+                painter.drawPolygon(fill_poly)
+
         # ── Points ──
         for entity in self._points:
             if entity.geometry:
@@ -1721,12 +1882,20 @@ class Sketch2DWidget(QWidget):
 class Viewer3DWidget(QWidget):
     """3D viewer widget using OCC's native AIS display."""
 
+    # Emitted when the user picks a planar face to sketch on.
+    # Payload: (origin, normal, x_dir, face_shape) — all tuples are (x,y,z).
+    facePicked = Signal(tuple, tuple, tuple, object)
+    # Emitted when face-pick mode is cancelled (Esc) so the host can uncheck.
+    pickFaceCancelled = Signal()
+
     def __init__(self, parent=None):
         super().__init__(parent)
         # For OCC's direct OpenGL rendering we need Qt to not paint over it.
         self.setAttribute(Qt.WA_PaintOnScreen)
         self.setAttribute(Qt.WA_OpaquePaintEvent)
         self.setAutoFillBackground(False)
+        # Accept keyboard focus so navigation shortcuts (F, R, 1-7, P, O) work.
+        self.setFocusPolicy(Qt.StrongFocus)
         # Try OCC renderer first; fall back to pygfx if unavailable.
         self._renderer: Any = None
         self._initialized = False
@@ -1734,6 +1903,9 @@ class Viewer3DWidget(QWidget):
         self._selected_normal: Optional[Tuple[float, float, float]] = None
         self._centroid: Optional[Tuple[float, float, float]] = None
         self._pending_meshes: List[Tuple] = []
+        # When True, a left-click picks a planar face (for sketch-on-surface)
+        # instead of orbiting the camera.  Set via set_pick_face_mode().
+        self._pick_face_mode: bool = False
 
     def _init_renderer(self) -> None:
         """Create the best available renderer."""
@@ -1863,11 +2035,22 @@ class Viewer3DWidget(QWidget):
 
     def mousePressEvent(self, event):
         self._ensure_initialized()
+        # Face-pick mode: a left-click selects a planar face to sketch on.
+        if self._pick_face_mode and event.button() == Qt.LeftButton:
+            self._handle_face_pick(event)
+            return
         self._renderer.handle_mouse_press(event)
         super().mousePressEvent(event)
 
     def mouseMoveEvent(self, event):
         self._ensure_initialized()
+        # In face-pick mode, keep dynamic highlighting but don't orbit.
+        if self._pick_face_mode:
+            if hasattr(self._renderer, "handle_mouse_move"):
+                # Still forward for hover-detect (no button held → detect only).
+                self._renderer.handle_mouse_move(event)
+            super().mouseMoveEvent(event)
+            return
         self._renderer.handle_mouse_move(event)
         super().mouseMoveEvent(event)
 
@@ -1899,7 +2082,52 @@ class Viewer3DWidget(QWidget):
         self._renderer.set_camera_position(position, target)
         self._renderer.render()
 
+    # ─── Face-pick mode (sketch-on-surface) ────────────────────────────────
+
+    def set_pick_face_mode(self, enabled: bool) -> None:
+        """Toggle face-pick mode.
+
+        When enabled, the cursor selects planar faces for sketch placement
+        instead of orbiting the camera.  Middle/right buttons still pan/zoom.
+        """
+        self._pick_face_mode = bool(enabled)
+        if enabled:
+            self.setCursor(Qt.CrossCursor)
+        else:
+            self.unsetCursor()
+
+    def is_pick_face_mode(self) -> bool:
+        return self._pick_face_mode
+
+    def _handle_face_pick(self, event) -> None:
+        """Detect a planar face under the click and emit facePicked."""
+        self._ensure_initialized()
+        picker = getattr(self._renderer, "pick_planar_face", None)
+        if picker is None:
+            logger.warning("Renderer has no pick_planar_face support")
+            return
+        # Qt6: prefer position().toPoint() over deprecated pos().
+        pos = event.position().toPoint() if hasattr(event, "position") else event.pos()
+        info = picker(pos.x(), pos.y())
+        if info is None:
+            logger.info("Face pick: no planar face under cursor")
+            return
+        self.facePicked.emit(
+            tuple(info["origin"]),
+            tuple(info["normal"]),
+            tuple(info["x_dir"]),
+            info["face"],
+        )
+
     def set_view(self, view: str):
+        # Prefer the renderer's native orientation snap (preserves target,
+        # refits the scene).  Falls back to absolute eye positions for
+        # renderers that don't implement set_view_orientation.
+        self._ensure_initialized()
+        if hasattr(self._renderer, "set_view_orientation"):
+            self._renderer.set_view_orientation(view)
+            self._renderer.render()
+            return
         positions = {
             "iso": ((100, 100, 100), (0, 0, 0)),
             "top": ((0, 0, 200), (0, 0, 0)),
@@ -1913,6 +2141,58 @@ class Viewer3DWidget(QWidget):
             pos, target = positions[view]
             self.set_camera_position(pos, target)
 
+    def mouseDoubleClickEvent(self, event):
+        # Double-click → fit all (common CAD convention).
+        self._ensure_initialized()
+        if event.button() == Qt.LeftButton:
+            self.fit_camera()
+        super().mouseDoubleClickEvent(event)
+
+    def keyPressEvent(self, event):
+        # Esc cancels face-pick mode.
+        if self._pick_face_mode and event.key() == Qt.Key_Escape:
+            self.set_pick_face_mode(False)
+            self.pickFaceCancelled.emit()
+            return
+        # Navigation shortcuts (lowercase = view presets, F = fit,
+        # P/O = perspective/orthographic, R = reset).
+        self._ensure_initialized()
+        key = event.text().lower()
+        mapping = {
+            "f": "fit",
+            "r": "reset",
+            "1": "front",
+            "2": "back",
+            "3": "top",
+            "4": "bottom",
+            "5": "left",
+            "6": "right",
+            "7": "iso",
+        }
+        action = mapping.get(key)
+        if action == "fit":
+            self.fit_camera()
+            return
+        if action == "reset":
+            if hasattr(self._renderer, "reset_camera"):
+                self._renderer.reset_camera()
+                self._renderer.render()
+            else:
+                self.set_view("iso")
+            return
+        if action in ("front", "back", "top", "bottom", "left", "right", "iso"):
+            self.set_view(action)
+            return
+        if key == "p" and hasattr(self._renderer, "set_camera_perspective"):
+            self._renderer.set_camera_perspective()
+            self._renderer.render()
+            return
+        if key == "o" and hasattr(self._renderer, "set_camera_orthographic"):
+            self._renderer.set_camera_orthographic()
+            self._renderer.render()
+            return
+        super().keyPressEvent(event)
+
 
 class MainWindow(QMainWindow):
     """Main application window."""
@@ -2198,6 +2478,12 @@ class MainWindow(QMainWindow):
         sk_tools_grid.addWidget(self._btn_edit_sketch, 0, 1)
         self._btn_del_sketch = QPushButton("Del")
         sk_tools_grid.addWidget(self._btn_del_sketch, 0, 2)
+        self._btn_face_sketch = QPushButton("Face")
+        self._btn_face_sketch.setToolTip(
+            "Pick a planar face in the 3D viewer to sketch on"
+        )
+        self._btn_face_sketch.setCheckable(True)
+        sk_tools_grid.addWidget(self._btn_face_sketch, 1, 0, 1, 3)
         sk_list_layout.addWidget(sk_tools)
         grid.addWidget(sk_list_group, 6, 0, 3, 1)
 
@@ -2425,6 +2711,11 @@ class MainWindow(QMainWindow):
         self._btn_add_sketch.clicked.connect(self._add_sketch_to_component)
         self._btn_edit_sketch.clicked.connect(self._edit_sketch)
         self._btn_del_sketch.clicked.connect(self._delete_sketch)
+        self._btn_face_sketch.toggled.connect(self._on_face_sketch_toggled)
+        self._viewer_3d.facePicked.connect(self._on_face_picked)
+        self._viewer_3d.pickFaceCancelled.connect(
+            lambda: self._btn_face_sketch.setChecked(False)
+        )
 
         self._btn_new_compo.clicked.connect(self._new_component)
         self._btn_del_compo.clicked.connect(self._delete_component)
@@ -2643,6 +2934,59 @@ class MainWindow(QMainWindow):
     def _pattern_array(self):
         logger.info("Pattern array not yet implemented")
 
+    # ─── Sketch-on-surface (face pick) ────────────────────────────────────
+
+    def _on_face_sketch_toggled(self, checked: bool) -> None:
+        """Toggle the 3D viewer's face-pick mode."""
+        self._viewer_3d.set_pick_face_mode(checked)
+        if checked:
+            # Make sure the 3D viewer has focus so it receives the click.
+            self._viewer_3d.setFocus()
+            self._viewer_3d.activateWindow()
+            self.statusBar().showMessage(
+                "Pick a planar face in the 3D viewer to sketch on (Esc to cancel)",
+                8000,
+            )
+
+    def _on_face_picked(self, origin, normal, x_dir, face_shape) -> None:
+        """Create a new sketch on the picked planar face and switch to 2D."""
+        logger.info(
+            f"Face picked: origin={origin}, normal={normal}, x_dir={x_dir}"
+        )
+        # Leave pick mode (the button stays toggled until we uncheck it).
+        self._btn_face_sketch.setChecked(False)
+        self._viewer_3d.set_pick_face_mode(False)
+
+        if not self._current_component:
+            self._current_component = self._project.add_component()
+
+        sketch = self._current_component.add_sketch()
+        sketch.name = f"Sketch on face {len(self._current_component.sketches)}"
+        # Place the sketch on the picked plane (sets fields + syncs occ_sketch).
+        sketch.set_workplane(origin, normal, x_dir)
+        # Keep the face reference for the projection underlay (Phase 3).
+        sketch._source_face = face_shape
+
+        # Hand the sketch to the 2D widget and focus the sketch panel.
+        if sketch.occ_sketch is None:
+            sketch.occ_sketch = self._sketch_widget.create_sketch()
+            sketch.apply_workplane()
+        self._sketch_widget.set_sketch(sketch.occ_sketch)
+        self._sketch_widget.set_source_face(face_shape, origin, normal, x_dir)
+        self._current_sketch = sketch
+        self._sketch_widget.set_mode("line")
+        self._btn_line.setChecked(True)
+
+        self._refresh_lists()
+        # Switch focus to the sketch panel so the user can draw immediately.
+        self._set_panel_focus("sketch")
+        self.statusBar().showMessage(
+            f"Sketch placed on face — drawing in 2D on that plane", 6000
+        )
+
+    def _pattern_array_placeholder(self):
+        pass
+
     def _add_sketch_to_component(self):
         logger.info("=== ADD SKETCH TO COMPONENT ===")
         if not self._current_component:
@@ -2660,6 +3004,10 @@ class MainWindow(QMainWindow):
             logger.info("Creating new sketch in widget")
             sketch.occ_sketch = self._sketch_widget.create_sketch()
 
+        # Sync the sketch's workplane (origin/normal/x_dir) into the OCC sketch
+        # so geometry is built on the right plane.
+        sketch.apply_workplane()
+
         self._current_sketch = sketch
         self._refresh_lists()
         self._sketch_widget.set_mode(None)
@@ -2676,6 +3024,7 @@ class MainWindow(QMainWindow):
             if sketch.name == name:
                 self._current_sketch = sketch
                 if sketch.occ_sketch:
+                    sketch.apply_workplane()
                     self._sketch_widget.set_sketch(sketch.occ_sketch)
                 self._sketch_widget.set_mode("line")
                 self._btn_line.setChecked(True)
diff --git a/src/fluency/models/data_model.py b/src/fluency/models/data_model.py
index 945c05d..c3ccd9b 100644
--- a/src/fluency/models/data_model.py
+++ b/src/fluency/models/data_model.py
@@ -6,7 +6,7 @@ including projects, components, sketches, and bodies.
 """
 
 from dataclasses import dataclass, field
-from typing import Dict, List, Optional, Any
+from typing import Dict, List, Optional, Any, Tuple
 from datetime import datetime
 import uuid
 import numpy as np
@@ -46,6 +46,32 @@ class Sketch:
     created_at: datetime = field(default_factory=datetime.now)
     modified_at: datetime = field(default_factory=datetime.now)
 
+    def set_workplane(
+        self,
+        origin: Tuple[float, float, float],
+        normal: Tuple[float, float, float],
+        x_dir: Tuple[float, float, float],
+    ) -> None:
+        """Set this sketch's 3D workplane and sync it to the OCC sketch.
+
+        Call this when the sketch is placed on a face/datum plane.  UV
+        coordinates are unchanged; only their world mapping moves.
+        """
+        self.workplane_origin = np.asarray(origin, dtype=float)
+        self.workplane_normal = np.asarray(normal, dtype=float)
+        self.workplane_x_dir = np.asarray(x_dir, dtype=float)
+        self.apply_workplane()
+        self.modified_at = datetime.now()
+
+    def apply_workplane(self) -> None:
+        """Push the stored workplane fields into the underlying OCCSketch."""
+        if self.occ_sketch is not None:
+            self.occ_sketch.set_workplane(
+                tuple(self.workplane_origin.tolist()),
+                tuple(self.workplane_normal.tolist()),
+                tuple(self.workplane_x_dir.tolist()),
+            )
+
     def add_point(self, x: float, y: float) -> Any:
         """Add a point to the sketch."""
         self.modified_at = datetime.now()
diff --git a/src/fluency/rendering/occ_renderer.py b/src/fluency/rendering/occ_renderer.py
index e53c9e2..e7aae23 100644
--- a/src/fluency/rendering/occ_renderer.py
+++ b/src/fluency/rendering/occ_renderer.py
@@ -41,6 +41,7 @@ class OCCRenderer(Renderer):
         self._parent_widget: Any = None
         self._last_mouse_x: int = 0
         self._last_mouse_y: int = 0
+        self._nav_mode: Optional[str] = None  # "rotate" | "pan" | "zoom" | None
 
     def initialize(self, parent_widget: Any) -> bool:
         """Initialise OCC viewer inside *parent_widget* (a QWidget)."""
@@ -56,11 +57,29 @@ class OCCRenderer(Renderer):
             Aspect_DisplayConnection,
             Aspect_NeutralWindow,
             Aspect_GFM_VER,
+            Aspect_TypeOfTriedronPosition,
         )
         from OCP.OpenGl import OpenGl_GraphicDriver
-        from OCP.V3d import V3d_Viewer, V3d_View, V3d_TypeOfView
+        from OCP.V3d import (
+            V3d_Viewer,
+            V3d_View,
+            V3d_TypeOfView,
+            V3d_DirectionalLight,
+            V3d_AmbientLight,
+            V3d_TypeOfOrientation,
+        )
         from OCP.AIS import AIS_InteractiveContext
-        from OCP.Quantity import Quantity_Color, Quantity_TOC_RGB
+        from OCP.Graphic3d import (
+            Graphic3d_Camera,
+            Graphic3d_TypeOfShadingModel,
+            Graphic3d_MaterialAspect,
+            Graphic3d_NameOfMaterial,
+        )
+        from OCP.Quantity import (
+            Quantity_Color,
+            Quantity_TOC_RGB,
+            Quantity_NameOfColor,
+        )
         logger.info("OCCRenderer imports complete")
 
         hwnd = int(parent_widget.winId())
@@ -74,17 +93,68 @@ class OCCRenderer(Renderer):
             display = Aspect_DisplayConnection()
             driver = OpenGl_GraphicDriver(display)
             viewer = V3d_Viewer(driver)
-            viewer.SetDefaultLights()
-            viewer.SetLightOn()
+
+            # ── Lighting: replace defaults with a tuned 3-light rig ───────
+            # Key light (warm directional from upper-front-right) + fill
+            # (cool, softer) + ambient for base lift.  Gives proper shading
+            # on curved BRep surfaces (cylinders, spheres).
+            viewer.SetLightOff()  # clear default lights first
+            key = V3d_DirectionalLight(
+                V3d_TypeOfOrientation.V3d_XposYnegZpos,
+                Quantity_Color(1.0, 0.96, 0.88, Quantity_TOC_RGB),
+                True,
+            )
+            fill = V3d_DirectionalLight(
+                V3d_TypeOfOrientation.V3d_XnegYnegZpos,
+                Quantity_Color(0.55, 0.62, 0.78, Quantity_TOC_RGB),
+                True,
+            )
+            rim = V3d_DirectionalLight(
+                V3d_TypeOfOrientation.V3d_XposYposZneg,
+                Quantity_Color(0.5, 0.5, 0.55, Quantity_TOC_RGB),
+                True,
+            )
+            ambient = V3d_AmbientLight(
+                Quantity_Color(0.35, 0.35, 0.4, Quantity_TOC_RGB)
+            )
+            for light in (key, fill, rim, ambient):
+                viewer.SetLightOn(light)
 
             view = V3d_View(viewer, V3d_TypeOfView.V3d_ORTHOGRAPHIC)
+
+            # ── Background gradient (dark studio look) ───────────────────
             viewer.SetDefaultBgGradientColors(
-                Quantity_Color(0.15, 0.15, 0.2, Quantity_TOC_RGB),
-                Quantity_Color(0.25, 0.25, 0.3, Quantity_TOC_RGB),
+                Quantity_Color(0.18, 0.20, 0.24, Quantity_TOC_RGB),
+                Quantity_Color(0.08, 0.09, 0.11, Quantity_TOC_RGB),
                 Aspect_GFM_VER,
             )
+            view.SetBgGradientColors(
+                Quantity_Color(0.18, 0.20, 0.24, Quantity_TOC_RGB),
+                Quantity_Color(0.08, 0.09, 0.11, Quantity_TOC_RGB),
+                Aspect_GFM_VER,
+                True,
+            )
+
+            # ── Rendering quality: MSAA + Phong shading + AA ─────────────
+            params = view.ChangeRenderingParams()
+            params.NbMsaaSamples = 4  # 4x MSAA for smoother edges
+            params.IsAntialiasingEnabled = True
+            params.LineFeather = 0.6
+            view.SetShadingModel(Graphic3d_TypeOfShadingModel.Graphic3d_TypeOfShadingModel_Phong)
+
+            # ── Corner orientation trihedron (axis gizmo) ────────────────
+            try:
+                view.TriedronDisplay(
+                    Aspect_TypeOfTriedronPosition.Aspect_TOTP_LEFT_LOWER,
+                    Quantity_Color(Quantity_NameOfColor.Quantity_NOC_WHITE),
+                    0.08,
+                )
+            except Exception:
+                logger.debug("TriedronDisplay unavailable", exc_info=True)
 
             context = AIS_InteractiveContext(viewer)
+            # Default display mode = shaded (AIS_Shaded = 1)
+            context.SetDisplayMode(1, True)
 
             # Attach OCC view to the Qt widget via the native window handle.
             win = Aspect_NeutralWindow()
@@ -92,6 +162,8 @@ class OCCRenderer(Renderer):
             w, h = parent_widget.width(), parent_widget.height()
             win.SetSize(w, h)
             view.SetWindow(win)
+            # Ensure the depth range follows the scene so nothing clips.
+            view.SetAutoZFitMode(True)
 
             self._viewer = viewer
             self._view = view
@@ -138,18 +210,39 @@ class OCCRenderer(Renderer):
 
         ais = AIS_Shape(shape)
 
+        # Order matters: set material *before* color so the per-channel color
+        # overrides only the diffuse albedo and the plastic BRDF is retained.
+        ais.SetMaterial(self._default_material())
         if color is not None:
             qcol = Quantity_Color(*color, Quantity_TOC_RGB)
             ais.SetColor(qcol)
 
-        # Enable selection of edges and faces.
-        ais.SetDisplayMode(1)  # 0 = wireframe, 1 = shaded
-        ais.SetMaterial(
-            self._default_material()
-        )  # use a helper to get the default material
+        # Shaded display with boundary edges drawn on top for readability.
+        ais.SetDisplayMode(1)  # 1 = AIS_Shaded
+        drawer = ais.Attributes()
+        try:
+            # Always draw face boundaries — makes solid edges crisp.
+            drawer.SetFaceBoundaryDraw(True)
+        except Exception:
+            logger.debug("boundary-draw attrs unavailable", exc_info=True)
+        # Slight polygon offset so boundary edges don't z-fight the surface.
+        # Mode 3 = Graphic3d_POM_Fill (offset filled polygons).
+        try:
+            ais.SetPolygonOffsets(3, 1.0, 0.0)
+        except Exception:
+            logger.debug("polygon offset unavailable", exc_info=True)
 
         self._context.Display(ais, True)
-        self._context.Deactivate(ais)
+        # Activate selection modes so the viewer can detect/pick the whole
+        # shape (mode 0) and individual faces (mode for TopAbs_FACE) — needed
+        # for sketch-on-surface face picking.  Left-click orbits the camera
+        # (see handle_mouse_press), so active selection doesn't interfere.
+        try:
+            from OCP.TopAbs import TopAbs_FACE
+            face_mode = AIS_Shape.SelectionMode_s(TopAbs_FACE)
+            self._context.Activate(ais, face_mode)
+        except Exception:
+            logger.debug("face selection mode activation failed", exc_info=True)
 
         defcol = color or (0.5, 0.5, 0.5)
         robj = OCCRenderObject(
@@ -170,12 +263,17 @@ class OCCRenderer(Renderer):
         return obj_id
 
     def _default_material(self):
-        """Return a default Graphic3d_MaterialAspect for shading."""
+        """Return a default Graphic3d_MaterialAspect for shading.
+
+        Plastic gives a clean, readable matte surface that responds well to
+        the 3-light rig set up in :meth:`initialize`.
+        """
         from OCP.Graphic3d import Graphic3d_MaterialAspect, Graphic3d_NameOfMaterial
 
-        return Graphic3d_MaterialAspect(
+        mat = Graphic3d_MaterialAspect(
             Graphic3d_NameOfMaterial.Graphic3d_NOM_PLASTIC
         )
+        return mat
 
     # ─── Legacy mesh / wireframe (kept for backward compat) ────────────
 
@@ -278,12 +376,16 @@ class OCCRenderer(Renderer):
         """Remove all objects from the scene."""
         if self._context is None:
             return
-        # Remove all displayed AIS objects.
-        from OCP.AIS import AIS_KindOfInteractive
-
-        objs = self._context.DisplayedObjects()
-        for ais in objs:
-            self._context.Remove(ais, True)
+        # Remove every displayed AIS object. ``RemoveAll`` is the cleanest
+        # path; fall back to iterating the displayed list if unavailable.
+        try:
+            self._context.RemoveAll(True)
+        except Exception:
+            from OCP.AIS import AIS_ListOfInteractive, AIS_KindOfInteractive
+            lst = AIS_ListOfInteractive()
+            self._context.DisplayedObjects(AIS_KindOfInteractive.AIS_KOI_None, -1, lst)
+            for ais in lst:
+                self._context.Remove(ais, True)
         self._objects.clear()
 
     def update_mesh(
@@ -327,15 +429,14 @@ class OCCRenderer(Renderer):
         target: Tuple[float, float, float] = (0, 0, 0),
         up: Tuple[float, float, float] = (0, 0, 1),
     ) -> None:
-        """Set camera position and orientation."""
+        """Set camera eye, target (at) and up vectors."""
         if self._view is None:
             return
-        from OCP.gp import gp_Pnt, gp_Dir, gp_Vec
-
-        self._view.SetProj(gp_Dir(position[0], position[1], position[2]))
-        self._view.SetEye(gp_Pnt(*position))
-        self._view.SetCenter(gp_Pnt(*target))
-        self._view.SetUp(gp_Dir(*up))
+        self._view.SetEye(float(position[0]), float(position[1]), float(position[2]))
+        self._view.SetAt(float(target[0]), float(target[1]), float(target[2]))
+        self._view.SetUp(float(up[0]), float(up[1]), float(up[2]))
+        self._view.ZFitAll()
+        self._view.Redraw()
 
     def get_camera_position(self) -> Tuple[np.ndarray, np.ndarray, np.ndarray]:
         """Get camera position, target, and up vector."""
@@ -346,47 +447,89 @@ class OCCRenderer(Renderer):
                 np.array([0, 0, 1]),
             )
         eye = self._view.Eye()
-        center = self._view.Center()
+        at = self._view.At()
         up = self._view.Up()
-        return (
-            np.array([eye.X(), eye.Y(), eye.Z()]),
-            np.array([center.X(), center.Y(), center.Z()]),
-            np.array([up.X(), up.Y(), up.Z()]),
-        )
+
+        def _xyz(v):
+            if isinstance(v, (tuple, list)):
+                return np.array([float(v[0]), float(v[1]), float(v[2])])
+            return np.array([v.X(), v.Y(), v.Z()])
+
+        return (_xyz(eye), _xyz(at), _xyz(up))
 
     def fit_camera(self, padding: float = 0.05) -> None:
         """Fit camera to show all displayed objects.
 
         *padding* is the margin coefficient (0 ≤ padding < 1.0) passed to
-        OCC's ``FitAll``, not a multiplicative factor.  A small value like
-        0.05 adds 5% margin around the bounding box.
+        OCC's ``FitAll``.  A small value like 0.05 adds 5% margin.
         """
         if self._view is None:
             return
         margin = max(0.0, min(padding, 0.99))
         self._view.FitAll(margin)
+        self._view.ZFitAll()
+
+    def set_view_orientation(self, orientation: str = "iso") -> None:
+        """Snap the camera to a standard CAD view.
+
+        orientation ∈ {"front","back","top","bottom","left","right","iso"}.
+        Preserves the current target and distance, then refits.
+        """
+        if self._view is None:
+            return
+        from OCP.V3d import V3d_TypeOfOrientation
+
+        mapping = {
+            "front":  V3d_TypeOfOrientation.V3d_Yneg,
+            "back":   V3d_TypeOfOrientation.V3d_Ypos,
+            "top":    V3d_TypeOfOrientation.V3d_Zpos,
+            "bottom": V3d_TypeOfOrientation.V3d_Zneg,
+            "left":   V3d_TypeOfOrientation.V3d_Xneg,
+            "right":  V3d_TypeOfOrientation.V3d_Xpos,
+            "iso":    V3d_TypeOfOrientation.V3d_XposYnegZpos,
+        }
+        orient = mapping.get(orientation.lower())
+        if orient is None:
+            logger.warning(f"unknown view orientation: {orientation}")
+            return
+        self._view.SetProj(orient)
+        self.fit_camera()
+        self._view.Redraw()
+
+    def reset_camera(self) -> None:
+        """Reset to the default isometric view and fit all."""
+        self.set_view_orientation("iso")
 
     def set_camera_perspective(
-        self, fov: float = 50.0, near: float = 0.1, far: float = 10000.0
+        self, fov: float = 45.0, near: float = 0.1, far: float = 100000.0
     ) -> None:
-        """Set perspective camera."""
+        """Switch to a perspective camera with the given FOV (degrees).
+
+        Near/far planes are auto-fit by OCC (``ZFitAll``) — the *near*/*far*
+        args are accepted for API compatibility but ignored.
+        """
         if self._view is None:
             return
-        from OCP.V3d import V3d_PERSPECTIVE
+        from OCP.Graphic3d import Graphic3d_Camera
 
-        self._view.SetComputedMode(False)  # manual mode
-        self._view.ChangeRenderingParams()
-        # perspective/orthographic toggle handled in set_camera_orthographic
+        cam = self._view.Camera()
+        cam.SetProjectionType(Graphic3d_Camera.Projection_Perspective)
+        cam.SetFOVy(fov)
+        self._view.ZFitAll()
+        self._view.Redraw()
 
     def set_camera_orthographic(
-        self, width: float = 100.0, near: float = 0.1, far: float = 10000.0
+        self, width: float = 100.0, near: float = 0.1, far: float = 100000.0
     ) -> None:
-        """Set orthographic camera."""
+        """Switch to an orthographic camera."""
         if self._view is None:
             return
-        from OCP.V3d import V3d_ORTHOGRAPHIC
+        from OCP.Graphic3d import Graphic3d_Camera
 
-        self._view.SetComputedMode(False)
+        cam = self._view.Camera()
+        cam.SetProjectionType(Graphic3d_Camera.Projection_Orthographic)
+        self._view.ZFitAll()
+        self._view.Redraw()
 
     # ─── Rendering ─────────────────────────────────────────────────────
 
@@ -444,56 +587,192 @@ class OCCRenderer(Renderer):
     ) -> Tuple[float, float, float]:
         return (0.0, 0.0, 0.0)
 
-    # ─── Mouse event forwarding ────────────────────────────────────────
+    # ─── Face picking (for sketch-on-surface) ────────────────────────────
+
+    def pick_planar_face(self, x: int, y: int) -> Optional[Dict[str, Any]]:
+        """Pick the planar face under screen pixel (x, y).
+
+        Returns a dict with ``origin``, ``normal``, ``x_dir`` (a stable
+        in-plane axis) and ``face`` (the ``TopoDS_Face``), or *None* if the
+        hit is not a planar face.  The plane is derived from the face's
+        underlying surface via ``BRepAdaptor_Surface``; *x_dir* is taken
+        from the face's first edge direction so the UV frame is aligned to
+        the face geometry.
+        """
+        if self._view is None or self._context is None:
+            return None
+
+        from OCP.BRepAdaptor import BRepAdaptor_Surface
+        from OCP.GeomAbs import GeomAbs_Plane
+        from OCP.TopoDS import TopoDS_Face, TopoDS
+        from OCP.TopExp import TopExp_Explorer
+        from OCP.TopAbs import TopAbs_EDGE, TopAbs_FACE
+        from OCP.BRep import BRep_Tool
+        from OCP.gp import gp_Pln, gp_Dir, gp_Pnt
+        import numpy as np
+
+        # Detect what's under the cursor.
+        self._context.MoveTo(x, y, self._view, True)
+        if not self._context.HasDetected():
+            return None
+
+        shape = self._context.DetectedShape()
+        if shape is None:
+            return None
+
+        # The detected sub-shape is returned as a TopoDS_Shape; with face
+        # selection mode active it downcasts to a TopoDS_Face.  Try the
+        # downcast; if it isn't a face, give up (non-planar/edge/vertex hits).
+        face = None
+        try:
+            candidate = TopoDS.Face_s(shape)
+            # Verify it really is a face by building an adaptor.
+            _ = BRepAdaptor_Surface(candidate)
+            face = candidate
+        except Exception:
+            face = None
+        if face is None:
+            return None
+
+        try:
+            adaptor = BRepAdaptor_Surface(face)
+            if adaptor.GetType() != GeomAbs_Plane:
+                return None  # non-planar faces can't host a flat UV sketch
+            pln: gp_Pln = adaptor.Plane()
+        except Exception:
+            return None
+
+        # Plane origin: use the face's bounding-box centre projected onto the
+        # plane, so the UV frame is centred on the face (nicer for sketching).
+        from OCP.Bnd import Bnd_Box
+        from OCP.BRepBndLib import BRepBndLib
+        bbox = Bnd_Box()
+        BRepBndLib.Add_s(face, bbox)
+        xmin, ymin, zmin, xmax, ymax, zmax = bbox.Get()
+        cx, cy, cz = (xmin + xmax) / 2.0, (ymin + ymax) / 2.0, (zmin + zmax) / 2.0
+        # Project the bbox centre onto the plane.
+        pln_origin = pln.Location()  # gp_Pnt
+        n = pln.Axis().Direction()
+        nx, ny, nz = n.X(), n.Y(), n.Z()
+        # signed distance from bbox centre to plane
+        d = (cx - pln_origin.X()) * nx + (cy - pln_origin.Y()) * ny + (cz - pln_origin.Z()) * nz
+        origin = (cx - d * nx, cy - d * ny, cz - d * nz)
+
+        # x_dir: direction of the face's first edge (stable, in-plane).
+        x_dir = None
+        try:
+            from OCP.TopExp import TopExp
+            from OCP.BRep import BRep_Tool
+            expl = TopExp_Explorer(face, TopAbs_EDGE)
+            if expl.More():
+                edge = TopoDS.Edge_s(expl.Current())
+                v1 = TopExp.FirstVertex_s(edge, True)
+                v2 = TopExp.LastVertex_s(edge, True)
+                p1 = BRep_Tool.Pnt_s(v1)
+                p2 = BRep_Tool.Pnt_s(v2)
+                ex, ey, ez = p2.X() - p1.X(), p2.Y() - p1.Y(), p2.Z() - p1.Z()
+                elen = (ex * ex + ey * ey + ez * ez) ** 0.5
+                if elen > 1e-9:
+                    x_dir = (ex / elen, ey / elen, ez / elen)
+        except Exception:
+            pass
+        if x_dir is None:
+            # Fall back to the plane's own X axis.
+            px = pln.XAxis().Direction()
+            x_dir = (px.X(), px.Y(), px.Z())
+
+        return {
+            "origin": origin,
+            "normal": (nx, ny, nz),
+            "x_dir": x_dir,
+            "face": face,
+        }
+
+    # ─── Mouse / keyboard event forwarding ──────────────────────────────
+    #
+    # CAD-style navigation:
+    #   • Left button drag   → orbit (rotate around target)
+    #   • Middle button drag → pan
+    #   • Right button drag  → dolly / zoom toward cursor
+    #   • Wheel              → zoom toward cursor
+    #   • Double-click left  → fit all  (handled by the widget)
+
+    def _qt_buttons(self, event) -> Any:
+        """Return the PySide6 Qt enum module lazily."""
+        from PySide6.QtCore import Qt
+        return Qt
 
     def handle_mouse_press(self, event) -> None:
-        """Forward a QMouseEvent to the OCC view for orbit/pan/zoom/select."""
-        from OCP.Aspect import Aspect_VKeyMouse
-        from OCP.AIS import AIS_SelectionScheme
-
+        """Begin an orbit / pan / zoom gesture based on the pressed button."""
         if self._view is None or self._context is None:
             return
+        Qt = self._qt_buttons(event)
+        x, y = event.x(), event.y()
+        btn = event.button()
 
-        # Middle mouse → start rotation
-        if event.button() == 4:  # Qt.MiddleButton
-            self._view.StartRotation(event.x(), event.y())
-        # Left mouse → try selection (OCC picks nearest shape)
-        elif event.button() == 1:  # Qt.LeftButton
-            self._context.Select(True)
+        if btn == Qt.LeftButton:
+            self._nav_mode = "rotate"
+            # zRotationThreshold=0.4 enables screen-Z spin outside the inner
+            # circle, matching the FreeCAD/OCC viewer feel.
+            self._view.StartRotation(x, y, 0.4)
+        elif btn == Qt.MiddleButton:
+            self._nav_mode = "pan"
+            # Pan uses deltas from this starting point.
+            self._view.Pan(0, 0, 1.0, True)
+        elif btn == Qt.RightButton:
+            self._nav_mode = "zoom"
+            self._view.StartZoomAtPoint(x, y)
+        else:
+            self._nav_mode = None
+
+        self._last_mouse_x = x
+        self._last_mouse_y = y
 
     def handle_mouse_move(self, event) -> None:
-        """Forward mouse motion to OCC view (rotation, dynamic highlighting)."""
-        from OCP.Aspect import Aspect_VKeyMouse
-
+        """Continue the active gesture; otherwise just hover-detect."""
         if self._view is None or self._context is None:
             return
-
+        Qt = self._qt_buttons(event)
+        x, y = event.x(), event.y()
         buttons = event.buttons()
-        if buttons & 4:  # Qt.MiddleButton
-            self._view.Rotation(event.x(), event.y())
-        elif buttons & 2:  # Qt.RightButton
-            dx = event.x() - self._last_mouse_x
-            dy = event.y() - self._last_mouse_y
-            self._view.Pan(dx, dy)
-        # Dynamic highlighting (detect)
-        self._context.MoveTo(event.x(), event.y(), self._view, True)
 
-        self._last_mouse_x = event.x()
-        self._last_mouse_y = event.y()
+        if self._nav_mode == "rotate" and (buttons & Qt.LeftButton):
+            self._view.Rotation(x, y)
+        elif self._nav_mode == "pan" and (buttons & Qt.MiddleButton):
+            dx = x - self._last_mouse_x
+            dy = y - self._last_mouse_y
+            # dy negated because Qt y grows downward while OCC y grows upward.
+            self._view.Pan(dx, -dy, 1.0, False)
+        elif self._nav_mode == "zoom" and (buttons & Qt.RightButton):
+            self._view.ZoomAtPoint(self._last_mouse_x, self._last_mouse_y, x, y)
+        else:
+            # Idle: dynamic highlighting under the cursor.
+            self._context.MoveTo(x, y, self._view, True)
+
+        self._last_mouse_x = x
+        self._last_mouse_y = y
 
     def handle_mouse_release(self, event) -> None:
-        """End rotation/pan."""
-        pass
+        """End the active gesture."""
+        Qt = self._qt_buttons(event)
+        if event.button() in (Qt.LeftButton, Qt.MiddleButton, Qt.RightButton):
+            self._nav_mode = None
 
     def handle_wheel(self, event) -> None:
-        """Zoom on scroll."""
+        """Zoom toward the cursor on scroll."""
         if self._view is None:
             return
+        # Qt6: QWheelEvent has no .x()/.y(); use position().toPoint().
+        pos = event.position().toPoint() if hasattr(event, "position") else event.pos()
+        x, y = pos.x(), pos.y()
         delta = event.angleDelta().y()
-        if delta > 0:
-            self._view.SetZoom(1.1)
-        else:
-            self._view.SetZoom(0.9)
+        if delta == 0:
+            return
+        # ZoomAtPoint(startX, startY, endX, endY): move the cursor anchor
+        # by a few pixels to drive a smooth zoom centered on the pointer.
+        step = 30 if delta > 0 else -30
+        self._view.ZoomAtPoint(x, y, x, y - step)
+        self._view.ZFitAll()
 
     def handle_resize(self, w: int, h: int) -> None:
         """Resize the OCC view when the widget is resized."""
diff --git a/tests/test_geometry.py b/tests/test_geometry.py
index 5bdfd8f..f5f0db8 100644
--- a/tests/test_geometry.py
+++ b/tests/test_geometry.py
@@ -182,6 +182,60 @@ class TestOCCSketch:
         points = sketch.get_points()
         assert len(points) == 0
 
+    def test_workplane_extrude_along_normal(self):
+        """A sketch on a tilted plane extrudes along that plane's normal."""
+        import math
+        from OCP.GProp import GProp_GProps
+        from OCP.BRepGProp import BRepGProp
+
+        ang = math.radians(35)
+        normal = (math.sin(ang), 0.0, math.cos(ang))
+        x_dir = (math.cos(ang), 0.0, -math.sin(ang))
+
+        sk = OCCSketch()
+        sk.set_workplane((10.0, 0.0, 5.0), normal, x_dir)
+        # 20x20 square in UV
+        p0 = sk.add_point(-10, -10); p1 = sk.add_point(10, -10)
+        p2 = sk.add_point(10, 10);   p3 = sk.add_point(-10, 10)
+        sk.add_line(p0, p1); sk.add_line(p1, p2)
+        sk.add_line(p2, p3); sk.add_line(p3, p0)
+
+        geom = sk.get_geometry()
+        # The face must carry the plane normal for the kernel.
+        assert geom.metadata.get("normal") is not None
+
+        kernel = OCGeometryKernel()
+        solid = kernel.extrude(geom, 15.0)
+        s = kernel._get_shape(solid)
+        g = GProp_GProps()
+        BRepGProp.VolumeProperties_s(s, g)
+        # 20 * 20 * 15 = 6000 regardless of plane orientation.
+        assert abs(g.Mass() - 6000.0) < 0.1
+
+    def test_workplane_extrude_with_hole(self):
+        """A square with a circular hole on a custom plane extrudes correctly."""
+        import math
+        from OCP.GProp import GProp_GProps
+        from OCP.BRepGProp import BRepGProp
+
+        sk = OCCSketch()
+        sk.set_workplane((0, 0, 0), (0, 0, 1), (1, 0, 0))
+        a = sk.add_point(-10, -10); b = sk.add_point(10, -10)
+        c = sk.add_point(10, 10);   d = sk.add_point(-10, 10)
+        sk.add_line(a, b); sk.add_line(b, c)
+        sk.add_line(c, d); sk.add_line(d, a)
+        ctr = sk.add_point(0, 0)
+        sk.add_circle(ctr, 3.0)
+
+        geom = sk.get_geometry()
+        kernel = OCGeometryKernel()
+        solid = kernel.extrude(geom, 5.0)
+        s = kernel._get_shape(solid)
+        g = GProp_GProps()
+        BRepGProp.VolumeProperties_s(s, g)
+        expected = 20 * 20 * 5 - math.pi * 3 * 3 * 5
+        assert abs(g.Mass() - expected) < 0.1
+
 
 if __name__ == "__main__":
     pytest.main([__file__, "-v"])