Thanks all for the suggestions on this subject.

I managed to implement almost all the things I had in mind without using kiway.

>From the 3D-Viewer side, I got the board information with all the items state 
>(eg using IsSelected as Fabien suggested)
but that only works one way Pcbnew -> Board -> 3D-Viewer

I noticed that it does not work: if I set an item to be selected, pcbnew will 
not show it as selected.
Here is where I believe it misses the use of kiway.

I added in pcbnew calls to request a redraw of the 3D-Viewer (when footprint is 
selected or moved). It adds/touches only less than a dozen of lines of code.
This should be drooped in future if using kiway, but at this moment pcbnew 
already request a reload of 3D-viewer on a similar fashion.

I open this merge request if you would like to test it and where you can have a 
list of the implemented features:
https://gitlab.com/kicad/code/kicad/-/merge_requests/397

looking for your feedback and ideas to see if that can be more improved!

Regards,
Mario Luzeiro

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