diff --git a/.circleci/config.yml b/.circleci/config.yml
deleted file mode 100644
index ff3d6645..00000000
--- a/.circleci/config.yml
+++ /dev/null
@@ -1,54 +0,0 @@
-version: 2
-jobs:
-  build:
-    working_directory: ~/SolidCode/SolidPython
-    parallelism: 1
-    shell: /bin/bash --login
-    environment:
-      CIRCLE_ARTIFACTS: /tmp/circleci-artifacts
-      CIRCLE_TEST_REPORTS: /tmp/circleci-test-results
-    # In CircleCI 1.0 we used a pre-configured image with a large number of languages and other packages.
-    # In CircleCI 2.0 you can now specify your own image, or use one of our pre-configured images.
-    # The following configuration line tells CircleCI to use the specified docker image as the runtime environment for you job.
-    # We have selected a pre-built image that mirrors the build environment we use on
-    # the 1.0 platform, but we recommend you choose an image more tailored to the needs
-    # of each job. For more information on choosing an image (or alternatively using a
-    # VM instead of a container) see https://circleci.com/docs/2.0/executor-types/
-    # To see the list of pre-built images that CircleCI provides for most common languages see
-    # https://circleci.com/docs/2.0/circleci-images/
-    docker:
-    # - image: circleci/build-image:ubuntu-14.04-XXL-upstart-1189-5614f37
-    - image: circleci/python:3.7.4-stretch-browsers
-    steps:
-    - checkout
-    - run: mkdir -p $CIRCLE_ARTIFACTS $CIRCLE_TEST_REPORTS
-    - restore_cache:
-        keys:
-        # This branch if available
-        - v1-dep-{{ .Branch }}-
-        # Default branch if not
-        - v1-dep-master-
-        # Any branch if there are none on the default branch - this should be unnecessary if you have your default branch configured correctly
-        - v1-dep-
-    - run: pip install --user tox tox-pyenv
-    - save_cache:
-        key: v1-dep-{{ .Branch }}-{{ epoch }}
-        paths:
-        # This is a broad list of cache paths to include many possible development environments
-        # You can probably delete some of these entries
-        - vendor/bundle
-        - ~/virtualenvs
-
-    # Test
-    #   This would typically be a build job when using workflows, possibly combined with build
-    - run: /home/circleci/.local/bin/tox
-    # Teardown
-    #   If you break your build into multiple jobs with workflows, you will probably want to do the parts of this that are relevant in each
-    # Save test results
-    - store_test_results:
-        path: /tmp/circleci-test-results
-    # Save artifacts
-    - store_artifacts:
-        path: /tmp/circleci-artifacts
-    - store_artifacts:
-        path: /tmp/circleci-test-results
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
new file mode 100644
index 00000000..1f5d11c9
--- /dev/null
+++ b/.github/workflows/ci.yml
@@ -0,0 +1,30 @@
+name: CI
+
+on:
+  push:
+    branches: [main]
+  pull_request:
+    branches: [main]
+
+jobs:
+  test:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/checkout@v4
+
+      - uses: astral-sh/setup-uv@v1
+
+      - name: Sync dev dependencies
+        run: uv sync --group dev
+
+      - name: Run pytest
+        run: uv run pytest
+
+      - name: Build docs
+        run: uv run sphinx-build -b html Doc Doc/_build/html
+
+      - name: Upload docs artifact
+        uses: actions/upload-artifact@v4
+        with:
+          name: docs-html
+          path: Doc/_build/html
\ No newline at end of file
diff --git a/.gitignore b/.gitignore
index 2c7489ab..26fc47d6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -15,3 +15,4 @@ parts
 lib
 lib64
 Doc/_build
+scratch/
\ No newline at end of file
diff --git a/.python-version b/.python-version
new file mode 100644
index 00000000..24ee5b1b
--- /dev/null
+++ b/.python-version
@@ -0,0 +1 @@
+3.13
diff --git a/Doc/conf.py b/Doc/conf.py
index 9e84cb95..07ad9938 100644
--- a/Doc/conf.py
+++ b/Doc/conf.py
@@ -15,174 +15,178 @@
 
 import sys
 import os
+from importlib import metadata
 
 # If extensions (or modules to document with autodoc) are in another directory,
 # add these directories to sys.path here. If the directory is relative to the
 # documentation root, use os.path.abspath to make it absolute, like shown here.
-sys.path.insert(0, os.path.abspath('.'))
-sys.path.insert(0, os.path.abspath('..'))
+sys.path.insert(0, os.path.abspath("."))
+sys.path.insert(0, os.path.abspath(".."))
 
 
 # -- General configuration ------------------------------------------------
 
 # If your documentation needs a minimal Sphinx version, state it here.
-#needs_sphinx = '1.0'
+# needs_sphinx = '1.0'
 
 # Add any Sphinx extension module names here, as strings. They can be
 # extensions coming with Sphinx (named 'sphinx.ext.*') or your custom
 # ones.
 extensions = [
-    'sphinx.ext.autodoc',
-    'sphinx.ext.viewcode',
+    "sphinx.ext.autodoc",
+    "sphinx.ext.viewcode",
 ]
 
 # Add any paths that contain templates here, relative to this directory.
-templates_path = ['_templates']
+templates_path = ["_templates"]
 
 # The suffix of source filenames.
-source_suffix = '.rst'
+source_suffix = ".rst"
 
 # The encoding of source files.
-#source_encoding = 'utf-8-sig'
+# source_encoding = 'utf-8-sig'
 
 # The master toctree document.
-master_doc = 'index'
+master_doc = "index"
 
 # General information about the project.
-project = 'SolidPython'
-copyright = '2014, Evan Jones'
+project = "SolidPython"
+author = "Evan Jones"
+copyright = "2014-2025, Evan Jones"
 
-# The version info for the project you're documenting, acts as replacement for
-# |version| and |release|, also used in various other places throughout the
-# built documents.
-#
-# The short X.Y version.
-version = '0.1.2'
-# The full version, including alpha/beta/rc tags.
-release = '0.1.2'
+try:
+    release = metadata.version("solidpython")
+except metadata.PackageNotFoundError:
+    from pathlib import Path
+    import tomllib
+
+    with (Path(__file__).parent.parent / "pyproject.toml").open("rb") as f:
+        release = tomllib.load(f)["project"]["version"]
+
+version = ".".join(release.split(".")[:2])
 
 # The language for content autogenerated by Sphinx. Refer to documentation
 # for a list of supported languages.
-#language = None
+# language = None
 
 # There are two options for replacing |today|: either, you set today to some
 # non-false value, then it is used:
-#today = ''
+# today = ''
 # Else, today_fmt is used as the format for a strftime call.
-#today_fmt = '%B %d, %Y'
+# today_fmt = '%B %d, %Y'
 
 # List of patterns, relative to source directory, that match files and
 # directories to ignore when looking for source files.
-exclude_patterns = ['_build']
+exclude_patterns = ["_build"]
 
 # The reST default role (used for this markup: `text`) to use for all
 # documents.
-#default_role = None
+# default_role = None
 
 # If true, '()' will be appended to :func: etc. cross-reference text.
-#add_function_parentheses = True
+# add_function_parentheses = True
 
 # If true, the current module name will be prepended to all description
 # unit titles (such as .. function::).
-#add_module_names = True
+# add_module_names = True
 
 # If true, sectionauthor and moduleauthor directives will be shown in the
 # output. They are ignored by default.
-#show_authors = False
+# show_authors = False
 
 # The name of the Pygments (syntax highlighting) style to use.
-pygments_style = 'sphinx'
+pygments_style = "sphinx"
 
 # A list of ignored prefixes for module index sorting.
-#modindex_common_prefix = []
+# modindex_common_prefix = []
 
 # If true, keep warnings as "system message" paragraphs in the built documents.
-#keep_warnings = False
+# keep_warnings = False
 
 
 # -- Options for HTML output ----------------------------------------------
 
 # The theme to use for HTML and HTML Help pages.  See the documentation for
 # a list of builtin themes.
-html_theme = 'default'
+html_theme = "default"
 
 # Theme options are theme-specific and customize the look and feel of a theme
 # further.  For a list of options available for each theme, see the
 # documentation.
-#html_theme_options = {}
+# html_theme_options = {}
 
 # Add any paths that contain custom themes here, relative to this directory.
-#html_theme_path = []
+# html_theme_path = []
 
 # The name for this set of Sphinx documents.  If None, it defaults to
 # "<project> v<release> documentation".
-#html_title = None
+# html_title = None
 
 # A shorter title for the navigation bar.  Default is the same as html_title.
-#html_short_title = None
+# html_short_title = None
 
 # The name of an image file (relative to this directory) to place at the top
 # of the sidebar.
-#html_logo = None
+# html_logo = None
 
 # The name of an image file (within the static path) to use as favicon of the
 # docs.  This file should be a Windows icon file (.ico) being 16x16 or 32x32
 # pixels large.
-#html_favicon = None
+# html_favicon = None
 
 # Add any paths that contain custom static files (such as style sheets) here,
 # relative to this directory. They are copied after the builtin static files,
 # so a file named "default.css" will overwrite the builtin "default.css".
-html_static_path = ['_static']
+html_static_path = ["_static"]
 
 # Add any extra paths that contain custom files (such as robots.txt or
 # .htaccess) here, relative to this directory. These files are copied
 # directly to the root of the documentation.
-#html_extra_path = []
+# html_extra_path = []
 
 # If not '', a 'Last updated on:' timestamp is inserted at every page bottom,
 # using the given strftime format.
-#html_last_updated_fmt = '%b %d, %Y'
+# html_last_updated_fmt = '%b %d, %Y'
 
 # If true, SmartyPants will be used to convert quotes and dashes to
 # typographically correct entities.
-#html_use_smartypants = True
+# html_use_smartypants = True
 
 # Custom sidebar templates, maps document names to template names.
-#html_sidebars = {}
+# html_sidebars = {}
 
 # Additional templates that should be rendered to pages, maps page names to
 # template names.
-#html_additional_pages = {}
+# html_additional_pages = {}
 
 # If false, no module index is generated.
-#html_domain_indices = True
+# html_domain_indices = True
 
 # If false, no index is generated.
-#html_use_index = True
+# html_use_index = True
 
 # If true, the index is split into individual pages for each letter.
-#html_split_index = False
+# html_split_index = False
 
 # If true, links to the reST sources are added to the pages.
-#html_show_sourcelink = True
+# html_show_sourcelink = True
 
 # If true, "Created using Sphinx" is shown in the HTML footer. Default is True.
-#html_show_sphinx = True
+# html_show_sphinx = True
 
 # If true, "(C) Copyright ..." is shown in the HTML footer. Default is True.
-#html_show_copyright = True
+# html_show_copyright = True
 
 # If true, an OpenSearch description file will be output, and all pages will
 # contain a <link> tag referring to it.  The value of this option must be the
 # base URL from which the finished HTML is served.
-#html_use_opensearch = ''
+# html_use_opensearch = ''
 
 # This is the file name suffix for HTML files (e.g. ".xhtml").
-#html_file_suffix = None
+# html_file_suffix = None
 
 # Output file base name for HTML help builder.
-htmlhelp_basename = 'SolidPythondoc'
+htmlhelp_basename = "SolidPythondoc"
 
 
 # -- Options for LaTeX output ---------------------------------------------
@@ -190,10 +194,8 @@
 latex_elements = {
     # The paper size ('letterpaper' or 'a4paper').
     #'papersize': 'letterpaper',
-
     # The font size ('10pt', '11pt' or '12pt').
     #'pointsize': '10pt',
-
     # Additional stuff for the LaTeX preamble.
     #'preamble': '',
 }
@@ -202,42 +204,38 @@
 # (source start file, target name, title,
 #  author, documentclass [howto, manual, or own class]).
 latex_documents = [
-    ('index', 'SolidPython.tex', 'SolidPython Documentation',
-     'Evan Jones', 'manual'),
+    ("index", "SolidPython.tex", "SolidPython Documentation", "Evan Jones", "manual"),
 ]
 
 # The name of an image file (relative to this directory) to place at the top of
 # the title page.
-#latex_logo = None
+# latex_logo = None
 
 # For "manual" documents, if this is true, then toplevel headings are parts,
 # not chapters.
-#latex_use_parts = False
+# latex_use_parts = False
 
 # If true, show page references after internal links.
-#latex_show_pagerefs = False
+# latex_show_pagerefs = False
 
 # If true, show URL addresses after external links.
-#latex_show_urls = False
+# latex_show_urls = False
 
 # Documents to append as an appendix to all manuals.
-#latex_appendices = []
+# latex_appendices = []
 
 # If false, no module index is generated.
-#latex_domain_indices = True
+# latex_domain_indices = True
 
 
 # -- Options for manual page output ---------------------------------------
 
 # One entry per manual page. List of tuples
 # (source start file, name, description, authors, manual section).
-man_pages = [
-    ('index', 'solidpython', 'SolidPython Documentation',
-     ['Evan Jones'], 1)
-]
+man_pages = [("index", "solidpython", "SolidPython Documentation", ["Evan Jones"], 1)]
 
 # If true, show URL addresses after external links.
-#man_show_urls = False
+# man_show_urls = False
 
 
 # -- Options for Texinfo output -------------------------------------------
@@ -246,19 +244,25 @@
 # (source start file, target name, title, author,
 #  dir menu entry, description, category)
 texinfo_documents = [
-    ('index', 'SolidPython', 'SolidPython Documentation',
-     'Evan Jones', 'SolidPython', 'One line description of project.',
-     'Miscellaneous'),
+    (
+        "index",
+        "SolidPython",
+        "SolidPython Documentation",
+        "Evan Jones",
+        "SolidPython",
+        "One line description of project.",
+        "Miscellaneous",
+    ),
 ]
 
 # Documents to append as an appendix to all manuals.
-#texinfo_appendices = []
+# texinfo_appendices = []
 
 # If false, no module index is generated.
-#texinfo_domain_indices = True
+# texinfo_domain_indices = True
 
 # How to display URL addresses: 'footnote', 'no', or 'inline'.
-#texinfo_show_urls = 'footnote'
+# texinfo_show_urls = 'footnote'
 
 # If true, do not generate a @detailmenu in the "Top" node's menu.
-#texinfo_no_detailmenu = False
+# texinfo_no_detailmenu = False
diff --git a/README.rst b/README.rst
index e2f050d1..7d7ba678 100644
--- a/README.rst
+++ b/README.rst
@@ -1,8 +1,12 @@
+**Hey!** All the energy and improvements in this project are going into **SolidPython V2**. Check it out at `Github <https://github.com/jeff-dh/SolidPython>`_ or on its `PyPI page <https://pypi.org/project/solidpython2/>`_ before you commit to an older version.
+
+
+
 SolidPython
 -----------
 
-.. image:: https://circleci.com/gh/SolidCode/SolidPython.svg?style=shield
-    :target: https://circleci.com/gh/SolidCode/SolidPython
+.. image:: https://github.com/SolidCode/SolidPython/actions/workflows/ci.yml/badge.svg
+    :target: https://github.com/SolidCode/SolidPython/actions/workflows/ci.yml
 .. image:: https://readthedocs.org/projects/solidpython/badge/?version=latest
     :target: http://solidpython.readthedocs.io/en/latest/?badge=latest
     :alt: Documentation Status
@@ -27,7 +31,6 @@ SolidPython
       things: <#directions-up-down-left-right-forward-back-for-arranging-things>`__
    -  `Arcs <#arcs>`__
    -  `Extrude Along Path <#extrude_along_path>`__
-   -  `Basic color library <#basic-color-library>`__
    -  `Bill Of Materials <#bill-of-materials>`__
 
 -  `solid.screw\_thread <#solidscrew_thread>`__
@@ -47,7 +50,7 @@ simple example:
 
 This Python code:
 
-::
+.. code:: python
 
     from solid import *
     d = difference()(
@@ -58,7 +61,7 @@ This Python code:
 
 Generates this OpenSCAD code:
 
-::
+.. code:: python
 
     difference(){
         cube(10);
@@ -68,7 +71,7 @@ Generates this OpenSCAD code:
 That doesn't seem like such a savings, but the following SolidPython
 code is a lot shorter (and I think clearer) than the SCAD code it compiles to:
 
-::
+.. code:: python
 
     from solid import *
     from solid.utils import *
@@ -76,7 +79,7 @@ code is a lot shorter (and I think clearer) than the SCAD code it compiles to:
 
 Generates this OpenSCAD code:
 
-::
+.. code::
 
     difference(){
         union(){
@@ -105,7 +108,7 @@ Installing SolidPython
 -  Install latest release via
    `PyPI <https://pypi.python.org/pypi/solidpython>`__:
 
-   ::
+   .. code:: bash
 
        pip install solidpython
 
@@ -116,29 +119,29 @@ Installing SolidPython
 
 - Install current master straight from Github:
 
-    ::
+  .. code:: bash
 
-        pip install git+https://github.com/SolidCode/SolidPython.git
+      pip install git+https://github.com/SolidCode/SolidPython.git
 
 Using SolidPython
 =================
 
 -  Include SolidPython at the top of your Python file:
 
-   ::
+   .. code:: python
 
-        from solid import *
-        from solid.utils import *  # Not required, but the utils module is useful
+       from solid import *
+       from solid.utils import *  # Not required, but the utils module is useful
 
    (See `this issue <https://github.com/SolidCode/SolidPython/issues/114>`__ for 
-   a discussion of other import styles
+   a discussion of other import styles)
 
 -  OpenSCAD uses curly-brace blocks ({}) to create its tree. SolidPython
    uses parentheses with comma-delimited lists. 
    
    **OpenSCAD:**
 
-   ::
+   .. code::
 
        difference(){
            cube(10);
@@ -147,7 +150,7 @@ Using SolidPython
 
    **SolidPython:**
 
-   ::
+   .. code::
 
        d = difference()(
            cube(10),  # Note the comma between each element!
@@ -167,19 +170,23 @@ Using SolidPython
 
 Importing OpenSCAD code
 =======================
-- Use ``solid.import_scad(path)`` to import OpenSCAD code.
+
+- Use ``solid.import_scad(path)`` to import OpenSCAD code. Relative paths will 
+check the current location designated in `OpenSCAD library directories <https://en.wikibooks.org/wiki/OpenSCAD_User_Manual/Libraries>`__.
 
 **Ex:** 
 
 ``scadfile.scad``
-:: 
+
+.. code::
 
     module box(w,h,d){
         cube([w,h,d]);
     }
 
 ``your_file.py``
-::
+
+.. code:: python
 
     from solid import *
 
@@ -189,12 +196,13 @@ Importing OpenSCAD code
 
 - Recursively import OpenSCAD code by calling ``import_scad()`` with a directory argument.
 
-::
+.. code:: python
 
     from solid import *
 
     # MCAD is OpenSCAD's most common utility library: https://github.com/openscad/MCAD
-    mcad = import_scad('/path/to/MCAD')
+    # If it's installed for OpenSCAD (on MacOS, at: ``$HOME/Documents/OpenSCAD/libraries``)
+    mcad = import_scad('MCAD')
 
     # MCAD contains about 15 separate packages, each included as its own namespace
     print(dir(mcad)) # => ['bearing', 'bitmap', 'boxes', etc...]
@@ -204,15 +212,18 @@ Importing OpenSCAD code
 - OpenSCAD has the ``use()`` and ``include()`` statements for importing SCAD code, and SolidPython has them, too. They pollute the global namespace, though, and you may have better luck with ``import_scad()``,
 
 **Ex:**
+
 ``scadfile.scad``
-:: 
+
+.. code::
 
     module box(w,h,d){
         cube([w,h,d]);
     }
 
 ``your_file.py``
-::
+
+.. code:: python
 
     from solid import *
 
@@ -229,7 +240,7 @@ The best way to learn how SolidPython works is to look at the included
 example code. If you've installed SolidPython, the following line of
 Python will print(the location of ) the examples directory:
 
-::
+.. code:: python
 
     import os, solid; print(os.path.dirname(solid.__file__) + '/examples')
         
@@ -250,13 +261,13 @@ Basic operators
 Following Elmo Mäntynen's suggestion, SCAD objects override the basic
 operators + (union), - (difference), and \* (intersection). So
 
-::
+.. code:: python
 
     c = cylinder(r=10, h=5) + cylinder(r=2, h=30)
 
 is the same as:
 
-::
+.. code:: python
 
     c = union()(
         cylinder(r=10, h=5),
@@ -265,14 +276,14 @@ is the same as:
 
 Likewise:
 
-::
+.. code:: python
 
     c = cylinder(r=10, h=5)
     c -= cylinder(r=2, h=30)
 
 is the same as:
 
-::
+.. code:: python
 
     c = difference()(
         cylinder(r=10, h=5),
@@ -297,7 +308,7 @@ structure.
 
 Example:
 
-::
+.. code:: python
 
     outer = cylinder(r=pipe_od, h=seg_length)
     inner = cylinder(r=pipe_id, h=seg_length)
@@ -333,7 +344,7 @@ Currently these include:
 Directions: (up, down, left, right, forward, back) for arranging things:
 ------------------------------------------------------------------------
 
-::
+.. code:: python
 
     up(10)(
         cylinder()
@@ -341,7 +352,7 @@ Directions: (up, down, left, right, forward, back) for arranging things:
 
 seems a lot clearer to me than:
 
-::
+.. code:: python
 
     translate( [0,0,10])(
         cylinder()
@@ -356,13 +367,13 @@ Arcs
 
 I've found this useful for fillets and rounds.
 
-::
+.. code:: python
 
     arc(rad=10, start_degrees=90, end_degrees=210)
 
 draws an arc of radius 10 counterclockwise from 90 to 210 degrees.
 
-::
+.. code:: python
 
     arc_inverted(rad=10, start_degrees=0, end_degrees=90) 
 
@@ -373,45 +384,16 @@ rounds.
 Extrude Along Path
 ------------------
 
-``solid.utils.extrude_along_path(shape_pts, path_pts, scale_factors=None)``
+``solid.utils.extrude_along_path()`` is quite powerful. It can do everything that
+OpenSCAD's ``linear_extrude() `` and ``rotate_extrude()`` can do, and lots, lots more. 
+Scale to custom values throughout the extrusion. Rotate smoothly through the entire 
+extrusion or specify particular rotations for each step. Apply arbitrary transform
+functions to every point in the extrusion. 
 
 See
 `solid/examples/path_extrude_example.py <https://github.com/SolidCode/SolidPython/blob/master/solid/examples/path_extrude_example.py>`__
 for use.
 
-Basic color library
--------------------
-
-You can change an object's color by using the OpenSCAD
-``color([rgba_array])`` function:
-
-::
-
-    transparent_blue = color([0,0,1, 0.5])(cube(10))  # Specify with RGB[A]
-    red_obj = color(Red)(cube(10))                    # Or use predefined colors
-
-These colors are pre-defined in solid.utils:
-
-+------------+---------+--------------+
-| Red        | Green   |  Blue        |
-+------------+---------+--------------+
-| Cyan       | Magenta |  Yellow      |
-+------------+---------+--------------+
-| Black      | White   |  Transparent |
-+------------+---------+--------------+
-| Oak        | Pine    |  Birch       |
-+------------+---------+--------------+
-| Iron       | Steel   |  Stainless   |
-+------------+---------+--------------+
-| Aluminum   | Brass   |  BlackPaint  |
-+------------+---------+--------------+
-| FiberBoard |         |              |
-+------------+---------+--------------+
-
-They're a conversion of the materials in the `MCAD OpenSCAD
-library <https://github.com/openscad/MCAD>`__, as seen [here]
-(https://github.com/openscad/MCAD/blob/master/materials.scad).
-
 Bill Of Materials
 -----------------
 
@@ -458,7 +440,8 @@ Jupyter Renderer
 ----------------
 
 Render SolidPython or OpenSCAD code in Jupyter notebooks using `ViewSCAD <https://github.com/nickc92/ViewSCAD>`__, or install directly via:
-:: 
+
+.. code:: bash
 
     pip install viewscad
 
diff --git a/pyproject.toml b/pyproject.toml
index 3cba801c..06e88e66 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,48 +1,53 @@
-[tool.poetry]
+[project]
 name = "solidpython"
-version = "0.4.6"
+version = "1.1.5"
 description = "Python interface to the OpenSCAD declarative geometry language"
-authors = ["Evan Jones <evan_t_jones@mac.com>"]
-homepage = "https://github.com/SolidCode/SolidPython"
-repository = "https://github.com/SolidCode/SolidPython"
-documentation = "https://solidpython.readthedocs.io/en/latest/"
+authors = [{ name = "Evan Jones", email = "evan_t_jones@mac.com" }]
 license = "LGPL-2.1"
 keywords = [
-    "3D", 
-    "CAD", 
-    "CSG", 
+    "3D",
+    "CAD",
+    "CSG",
     "constructive solid geometry",
     "geometry",
-    "modeling", 
-    "OpenSCAD", 
+    "modeling",
+    "OpenSCAD",
 ]
-
-classifiers=[
+classifiers = [
     "Programming Language :: Python",
     "Programming Language :: Python :: 3.7",
     "Development Status :: 4 - Beta",
     "Environment :: Other Environment",
     "Intended Audience :: Developers",
-    "License :: OSI Approved :: GNU Lesser General Public License v2 or later (LGPLv2+)",
     "Operating System :: OS Independent",
     "Topic :: Software Development :: Libraries :: Python Modules",
     "Topic :: Scientific/Engineering :: Mathematics",
 ]
-packages=[
-    { include = "solid"}
+
+
+readme = "README.rst"
+requires-python = ">=3.10"
+dependencies = [
+    "euclid3>=0.1.0",
+    "pypng>=0.0.19",
+    "PrettyTable==0.7.2",
+    "ply>=3.11",
 ]
 
-[tool.poetry.dependencies]
-python = ">=3.7"
-euclid3 = "^0.1.0"
-pypng = "^0.0.19"
-PrettyTable = "=0.7.2"
-regex = "^2019.4"
 
-[tool.poetry.dev-dependencies]
-tox = "^tox 3.11"
+[project.urls]
+homepage = "https://github.com/SolidCode/SolidPython"
+repository = "https://github.com/SolidCode/SolidPython"
+documentation = "https://solidpython.readthedocs.io/en/latest/"
 
-[build-system]
-requires = ["poetry>=0.12"]
-build-backend = "poetry.masonry.api"
+[dependency-groups]
+dev = [
+    "pytest>=8.4.2",
+    "sphinx>=8.1.3",
+    "sphinx-rtd-theme>=3.0.2",
+    "tox>=4.30.3",
+]
 
+[tool.setuptools.packages.find]
+include = ["solid*"]
+exclude = ["Doc*"]
diff --git a/solid/examples/basic_scad_include.py b/solid/examples/basic_scad_include.py
index 5e432dad..a91020fc 100755
--- a/solid/examples/basic_scad_include.py
+++ b/solid/examples/basic_scad_include.py
@@ -13,6 +13,7 @@
 def demo_import_scad():
     scad_path = Path(__file__).parent / 'scad_to_include.scad'
     scad_mod = import_scad(scad_path)
+    scad_mod.optional_nondefault_arg(1)
     return scad_mod.steps(5)
 
 
diff --git a/solid/examples/bom_scad.py b/solid/examples/bom_scad.py
index a059a66f..7611835c 100755
--- a/solid/examples/bom_scad.py
+++ b/solid/examples/bom_scad.py
@@ -93,15 +93,16 @@ def doohickey(c):
 
 
 def assembly():
+    nut = m3_nut()
     return union()(
             doohickey(c='blue'),
             translate((-10, 0, doohickey_h / 2))(m3_12()),
             translate((0, 0, doohickey_h / 2))(m3_16()),
             translate((10, 0, doohickey_h / 2))(m3_12()),
             # Nuts
-            translate((-10, 0, -nut_height - doohickey_h / 2))(m3_nut()),
-            translate((0, 0, -nut_height - doohickey_h / 2))(m3_nut()),
-            translate((10, 0, -nut_height - doohickey_h / 2))(m3_nut()),
+            translate((-10, 0, -nut_height - doohickey_h / 2))(nut),
+            translate((0, 0, -nut_height - doohickey_h / 2))(nut),
+            translate((10, 0, -nut_height - doohickey_h / 2))(nut),
     )
 
 
@@ -109,12 +110,12 @@ def assembly():
     out_dir = sys.argv[1] if len(sys.argv) > 1 else None
 
     a = assembly()
-    bom = bill_of_materials()
+    bom = bill_of_materials(a)
     file_out = scad_render_to_file(a, out_dir=out_dir)
 
     print(f"{__file__}: SCAD file written to: \n{file_out}")
     print(bom)
 
     print("Or, Spreadsheet-ready TSV:\n\n")
-    bom = bill_of_materials(csv=True)
+    bom = bill_of_materials(a, csv=True)
     print(bom)
diff --git a/solid/examples/path_extrude_example.py b/solid/examples/path_extrude_example.py
index 12734607..296637c4 100755
--- a/solid/examples/path_extrude_example.py
+++ b/solid/examples/path_extrude_example.py
@@ -1,27 +1,191 @@
 #! /usr/bin/env python3
+from solid.objects import linear_extrude
+from solid.solidpython import OpenSCADObject
 import sys
-from math import cos, radians, sin
+from math import cos, radians, sin, pi, tau
+from pathlib import Path
 
-from euclid3 import Point3
+from euclid3 import Point2, Point3, Vector3
 
-from solid import scad_render_to_file
-from solid.utils import extrude_along_path
+from solid import scad_render_to_file, text, translate, cube, color, rotate
+from solid.utils import UP_VEC, Vector23, distribute_in_grid, extrude_along_path
+from solid.utils import down, right, frange, lerp
+
+
+from typing import Set, Sequence, List, Callable, Optional, Union, Iterable, Tuple
 
 SEGMENTS = 48
+PATH_RAD = 50 
+SHAPE_RAD = 15
+
+TEXT_LOC = [-0.6 *PATH_RAD, 1.6 * PATH_RAD]
+
+def basic_extrude_example():
+    path_rad = PATH_RAD
+    shape = star(num_points=5)
+    path = sinusoidal_ring(rad=path_rad, segments=240)
+
+    # At its simplest, just sweep a shape along a path
+    extruded = extrude_along_path( shape_pts=shape, path_pts=path)
+    extruded += make_label('Basic Extrude')
+    return extruded
+        
+def extrude_example_xy_scaling() -> OpenSCADObject:
+    num_points = SEGMENTS
+    path_rad = PATH_RAD
+    circle = circle_points(15)
+    path = circle_points(rad = path_rad)
+
+    # If scales aren't included, they'll default to
+    # no scaling at each step along path.
+    no_scale_obj = make_label('No Scale')
+    no_scale_obj += extrude_along_path(circle, path)
+
+    # angles: from 0 to 6*Pi
+    angles = list((frange(0, 3*tau, num_steps=len(path))))
+
+    # With a 1-D scale factor, an extrusion grows and shrinks uniformly
+    x_scales = [(1 + cos(a)/2) for a in angles]
+    x_obj = make_label('1D Scale')
+    x_obj += extrude_along_path(circle, path, scales=x_scales)
+
+    # With a 2D scale factor, a shape's X & Y dimensions can scale 
+    # independently, leading to more interesting shapes
+    # X & Y scales vary between 0.5 & 1.5
+    xy_scales = [Point2( 1 + cos(a)/2, 1 + sin(a)/2) for a in angles]
+    xy_obj = make_label('2D Scale')
+    xy_obj += extrude_along_path(circle, path, scales=xy_scales)
+
+    obj = no_scale_obj + right(3*path_rad)(x_obj) + right(6 * path_rad)(xy_obj)
+    return obj
+
+def extrude_example_capped_ends() -> OpenSCADObject:
+    num_points = SEGMENTS/2
+    path_rad = 50
+    circle = star(6)
+    path = circle_points(rad = path_rad)[:-4]
+
+    # If `connect_ends` is False or unspecified, ends will be capped.
+    # Endcaps will be correct for most convex or mildly concave (e.g. stars) cross sections
+    capped_obj = make_label('Capped Ends')
+    capped_obj += extrude_along_path(circle, path, connect_ends=False, cap_ends=True)
+
+    # If `connect_ends` is specified, create a continuous manifold object
+    connected_obj = make_label('Connected Ends')
+    connected_obj += extrude_along_path(circle, path, connect_ends=True)   
+
+    return capped_obj + right(3*path_rad)(connected_obj)
+
+def extrude_example_rotations() -> OpenSCADObject:
+    path_rad = PATH_RAD
+    shape = star(num_points=5)
+    path = circle_points(path_rad, num_points=240)
 
+    # For a simple example, make one complete revolution by the end of the extrusion
+    simple_rot = make_label('Simple Rotation')
+    simple_rot += extrude_along_path(shape, path, rotations=[360], connect_ends=True)
 
-def sinusoidal_ring(rad=25, segments=SEGMENTS):
+    # For a more complex set of rotations, add a rotation degree for each point in path
+    complex_rotations = []
+    degs = 0
+    oscillation_max = 60
+
+    for i in frange(0, 1, num_steps=len(path)):
+        # For the first third of the path, do one complete rotation
+        if i <= 0.333:
+            degs = i/0.333*360
+        # For the second third of the path, oscillate between +/- oscillation_max degrees 
+        elif i <= 0.666:
+            angle = lerp(i, 0.333, 0.666, 0, 2*tau)
+            degs = oscillation_max * sin(angle)
+        # For the last third of the path, oscillate increasingly fast but with smaller magnitude 
+        else:
+            # angle increases in a nonlinear curve, so
+            # oscillations should get quicker and quicker
+            x = lerp(i, 0.666, 1.0, 0, 2)
+            angle = pow(x, 2.2) * tau
+            # decrease the size of the oscillations by a factor of 10
+            # over the course of this stretch
+            osc = lerp(i, 0.666, 1.0, oscillation_max, oscillation_max/10)
+            degs = osc * sin(angle)
+        complex_rotations.append(degs)
+
+    complex_rot = make_label('Complex Rotation')
+    complex_rot += extrude_along_path(shape, path, rotations=complex_rotations)
+
+    # Make some red markers to show the boundaries between the three sections of this path
+    marker_w = SHAPE_RAD * 1.5
+    marker = translate([path_rad, 0, 0])(
+        cube([marker_w, 1, marker_w], center=True)
+    )
+    markers = [color('red')(rotate([0,0,120*i])(marker)) for i in range(3)]
+    complex_rot += markers
+
+    return simple_rot + right(3*path_rad)(complex_rot)
+
+def extrude_example_transforms() -> OpenSCADObject:
+    path_rad = PATH_RAD
+    height = 2*SHAPE_RAD
+    num_steps = 120
+
+    shape = circle_points(rad=path_rad, num_points=120)
+    path = [Point3(0,0,i) for i in frange(0, height, num_steps=num_steps)]
+
+    max_rotation = radians(15)
+    max_z_displacement = height/10
+    up = Vector3(0,0,1)
+
+    # The transforms argument is powerful. 
+    # Each point in the entire extrusion will call this function with unique arguments: 
+    #   -- `path_norm` in [0, 1] specifying how far along in the extrusion a point's loop is
+    #   -- `loop_norm` in [0, 1] specifying where in its loop a point is.
+    def point_trans(point: Point3, path_norm:float, loop_norm: float) -> Point3:
+        # scale the point from 1x to 2x in the course of the 
+        # extrusion, 
+        scale = 1 + path_norm*path_norm/2
+        p = scale * point
+
+        # Rotate the points sinusoidally up to max_rotation
+        p = p.rotate_around(up, max_rotation*sin(tau*path_norm))
+
+        # Oscillate z values sinusoidally, growing from 
+        # 0 magnitude to max_z_displacement, then decreasing to 0 magnitude at path_norm == 1
+        max_z = sin(pi*path_norm) * max_z_displacement
+        angle = lerp(loop_norm, 0, 1, 0, 10*tau)
+        p.z += max_z*sin(angle)
+        return p
+
+    no_trans = make_label('No Transform')
+    no_trans += down(height/2)(
+        extrude_along_path(shape, path, cap_ends=True)
+    )
+
+    # We can pass transforms a single function that will be called on all points,
+    # or pass a list with a transform function for each point along path
+    arb_trans = make_label('Arbitrary Transform')
+    arb_trans += down(height/2)(
+        extrude_along_path(shape, path, transforms=[point_trans], cap_ends=True)
+    )
+
+    return no_trans + right(3*path_rad)(arb_trans)
+
+# ============
+# = GEOMETRY =
+# ============
+def sinusoidal_ring(rad=25, segments=SEGMENTS) -> List[Point3]:
     outline = []
     for i in range(segments):
-        angle = i * 360 / segments
-        x = rad * cos(radians(angle))
-        y = rad * sin(radians(angle))
-        z = 2 * sin(radians(angle * 6))
+        angle = radians(i * 360 / segments)
+        scaled_rad = (1 + 0.18*cos(angle*5)) * rad
+        x = scaled_rad * cos(angle)
+        y = scaled_rad * sin(angle)
+        z = 0
+        # Or stir it up and add an oscillation in z as well
+        # z = 3 * sin(angle * 6)
         outline.append(Point3(x, y, z))
     return outline
 
-
-def star(num_points=5, outer_rad=15, dip_factor=0.5):
+def star(num_points=5, outer_rad=SHAPE_RAD, dip_factor=0.5) -> List[Point3]:
     star_pts = []
     for i in range(2 * num_points):
         rad = outer_rad - i % 2 * dip_factor * outer_rad
@@ -29,28 +193,34 @@ def star(num_points=5, outer_rad=15, dip_factor=0.5):
         star_pts.append(Point3(rad * cos(angle), rad * sin(angle), 0))
     return star_pts
 
+def circle_points(rad: float = SHAPE_RAD, num_points: int = SEGMENTS) -> List[Point2]:
+    angles = frange(0, tau, num_steps=num_points, include_end=True)
+    points = list([Point2(rad*cos(a), rad*sin(a)) for a in angles])
+    return points
 
-def extrude_example():
-    # Note the incorrect triangulation at the two ends of the path.  This
-    # is because star isn't convex, and the triangulation algorithm for
-    # the two end caps only works for convex shapes.
-    shape = star(num_points=5)
-    path = sinusoidal_ring(rad=50)
-
-    # If scale_factors aren't included, they'll default to
-    # no scaling at each step along path.  Here, let's
-    # make the shape twice as big at beginning and end of the path
-    scales = [1] * len(path)
-    scales[0] = 2
-    scales[-1] = 2
+def make_label(message:str, text_loc:Tuple[float, float]=TEXT_LOC, height=5) -> OpenSCADObject:
+    return translate(text_loc)(
+        linear_extrude(height)(
+            text(message)
+        )
+    )
 
-    extruded = extrude_along_path(shape_pts=shape, path_pts=path, scale_factors=scales)
+# ===============
+# = ENTRY POINT =
+# ===============
+if __name__ == "__main__":
+    out_dir = sys.argv[1] if len(sys.argv) > 1 else Path(__file__).parent
 
-    return extruded
+    basic_extrude = basic_extrude_example()
+    scaled_extrusions = extrude_example_xy_scaling()
+    capped_extrusions = extrude_example_capped_ends()
+    rotated_extrusions = extrude_example_rotations()
+    arbitrary_transforms = extrude_example_transforms()
+    all_objs = [basic_extrude, scaled_extrusions, capped_extrusions, rotated_extrusions, arbitrary_transforms]
 
+    a = distribute_in_grid(all_objs, 
+                            max_bounding_box=[4*PATH_RAD, 4*PATH_RAD],
+                            rows_and_cols=[len(all_objs), 1])
 
-if __name__ == '__main__':
-    out_dir = sys.argv[1] if len(sys.argv) > 1 else None
-    a = extrude_example()
-    file_out = scad_render_to_file(a, out_dir=out_dir, include_orig_code=True)
+    file_out = scad_render_to_file(a,  out_dir=out_dir, include_orig_code=True)
     print(f"{__file__}: SCAD file written to: \n{file_out}")
diff --git a/solid/examples/scad_to_include.scad b/solid/examples/scad_to_include.scad
index a67ff9bb..e4e50e33 100644
--- a/solid/examples/scad_to_include.scad
+++ b/solid/examples/scad_to_include.scad
@@ -13,4 +13,13 @@ module steps(howmany=3){
     }
 }
 
-echo("This text should appear only when called with include(), not use()");
\ No newline at end of file
+module blub(a, b=1) cube([a, 2, 2]);
+
+function scad_points() = [[0,0], [1,0], [0,1]];
+
+// In Python, calling this function without an argument would be an error.
+// Leave this here to confirm that this works in OpenSCAD.
+function optional_nondefault_arg(arg1) =
+  let(s = arg1 ? arg1 : 1) cube([s,s,s]);
+
+echo("This text should appear only when called with include(), not use()");
diff --git a/solid/examples/splines_example.py b/solid/examples/splines_example.py
index 7896b72e..002b5049 100755
--- a/solid/examples/splines_example.py
+++ b/solid/examples/splines_example.py
@@ -2,7 +2,7 @@
 import os
 import sys
 from solid import *
-from solid.utils import Red, right, forward
+from solid.utils import Red, right, forward, back
 
 from solid.splines import catmull_rom_points, catmull_rom_polygon, control_points
 from solid.splines import bezier_polygon, bezier_points
@@ -10,13 +10,18 @@
 
 def assembly():
     # Catmull-Rom Splines
-    a = basic_catmull_rom()
-    a += forward(4)(catmull_rom_spline_variants())
-    a += forward(6)(bottle_shape(width=2, height=6))
+    a = basic_catmull_rom()                         # Top row in OpenSCAD output
+    a += back(4)(catmull_rom_spline_variants())     # Row 2
+    a += back(12)(bottle_shape(width=2, height=6))  # Row 3, the bottle shape
+
+    # # TODO: include examples for 3D surfaces:
+    # a += back(16)(catmull_rom_patches())
+    # a += back(20)(catmull_rom_prism())
+    # a += back(24)(catmull_rom_prism_smooth())
 
     # Bezier Splines
-    a += forward(12)(basic_bezier())
-    a += forward(18)(bezier_points_variants())
+    a += back(16)(basic_bezier())                   # Row 4
+    a += back(20)(bezier_points_variants())         # Row 5
     return a
 
 def basic_catmull_rom():
@@ -67,6 +72,18 @@ def catmull_rom_spline_variants():
 
     return a
 
+def catmull_rom_patches():
+    # TODO: write this
+    pass
+
+def catmull_rom_prism():
+    # TODO: write this
+    pass
+
+def catmull_rom_prism_smooth():
+    # TODO: write this
+    pass
+
 def bottle_shape(width: float, height: float, neck_width:float=None, neck_height:float=None):
     if neck_width == None:
         neck_width = width * 0.4
diff --git a/solid/extrude_along_path.py b/solid/extrude_along_path.py
new file mode 100644
index 00000000..6e720706
--- /dev/null
+++ b/solid/extrude_along_path.py
@@ -0,0 +1,213 @@
+#! /usr/bin/env python
+from math import radians
+from solid import OpenSCADObject, Points, polyhedron
+from solid.utils import euclidify, euc_to_arr, transform_to_point, EPSILON
+from euclid3 import Point2, Point3, Vector2, Vector3
+
+from typing import Optional, Sequence, Union, Callable
+
+Tuple2 = tuple[float, float]
+FacetIndices = tuple[int, int, int]
+Point3Transform = Callable[[Point3, Optional[float], Optional[float]], Point3]
+
+
+# ==========================
+# = Extrusion along a path =
+# ==========================
+def extrude_along_path(
+    shape_pts: Points,
+    path_pts: Points,
+    scales: Sequence[Union[Vector2, float, Tuple2]] = None,
+    rotations: Sequence[float] = None,
+    transforms: Sequence[Point3Transform] = None,
+    connect_ends=False,
+    cap_ends=True,
+) -> OpenSCADObject:
+    """
+    Extrude the curve defined by shape_pts along path_pts.
+    -- For predictable results, shape_pts must be planar, convex, and lie
+    in the XY plane centered around the origin. *Some* nonconvexity (e.g, star shapes)
+    and nonplanarity will generally work fine
+
+    -- len(scales) should equal len(path_pts).  No-op if not supplied
+          Each entry may be a single number for uniform scaling, or a pair of
+          numbers (or Point2) for differential X/Y scaling
+          If not supplied, no scaling will occur.
+
+    -- len(rotations) should equal 1 or len(path_pts). No-op if not supplied.
+          Each point in shape_pts will be rotated by rotations[i] degrees at
+          each point in path_pts. Or, if only one rotation is supplied, the shape
+          will be rotated smoothly over rotations[0] degrees in the course of the extrusion
+
+    -- len(transforms) should be 1 or be equal to len(path_pts).  No-op if not supplied.
+          Each entry should be have the signature:
+             def transform_func(p:Point3, path_norm:float, loop_norm:float): Point3
+          where path_norm is in [0,1] and expresses progress through the extrusion
+          and loop_norm is in [0,1] and express progress through a single loop of the extrusion
+
+    -- if connect_ends is True, the first and last loops of the extrusion will
+          be joined, which is useful for toroidal geometries. Overrides cap_ends
+
+    -- if cap_ends is True, each point in the first and last loops of the extrusion
+        will be connected to the centroid of that loop. For planar, convex shapes, this
+        works nicely. If shape is less planar or convex, some self-intersection may happen.
+        Not applied if connect_ends is True
+    """
+
+    polyhedron_pts: Points = []
+    facet_indices: list[tuple[int, int, int]] = []
+
+    # Make sure we've got Euclid Point3's for all elements
+    shape_pts = euclidify(shape_pts, Point3)
+    path_pts = euclidify(path_pts, Point3)
+
+    src_up = Vector3(0, 0, 1)
+
+    shape_pt_count = len(shape_pts)
+
+    tangent_path_points: list[Point3] = []
+
+    # If first & last points are the same, let's close the shape
+    first_last_equal = (path_pts[0] - path_pts[-1]).magnitude_squared() < EPSILON
+    if first_last_equal:
+        connect_ends = True
+        path_pts = path_pts[:][:-1]
+
+    if connect_ends:
+        tangent_path_points = [path_pts[-1]] + path_pts + [path_pts[0]]
+    else:
+        first = Point3(*(path_pts[0] - (path_pts[1] - path_pts[0])))
+        last = Point3(*(path_pts[-1] - (path_pts[-2] - path_pts[-1])))
+        tangent_path_points = [first] + path_pts + [last]
+    tangents = [
+        tangent_path_points[i + 2] - tangent_path_points[i]
+        for i in range(len(path_pts))
+    ]
+
+    for which_loop in range(len(path_pts)):
+        # path_normal is 0 at the first path_pts and 1 at the last
+        path_normal = which_loop / (len(path_pts) - 1)
+
+        path_pt = path_pts[which_loop]
+        tangent = tangents[which_loop]
+        scale = scales[which_loop] if scales else 1
+
+        rotate_degrees = None
+        if rotations:
+            rotate_degrees = (
+                rotations[which_loop]
+                if len(rotations) > 1
+                else rotations[0] * path_normal
+            )
+
+        transform_func = None
+        if transforms:
+            transform_func = (
+                transforms[which_loop] if len(transforms) > 1 else transforms[0]
+            )
+
+        this_loop = shape_pts[:]
+        this_loop = _scale_loop(this_loop, scale)
+        this_loop = _rotate_loop(this_loop, rotate_degrees)
+        this_loop = _transform_loop(this_loop, transform_func, path_normal)
+
+        this_loop = transform_to_point(
+            this_loop, dest_point=path_pt, dest_normal=tangent, src_up=src_up
+        )
+        loop_start_index = which_loop * shape_pt_count
+
+        if which_loop < len(path_pts) - 1:
+            loop_facets = _loop_facet_indices(loop_start_index, shape_pt_count)
+            facet_indices += loop_facets
+
+        # Add the transformed points & facets to our final list
+        polyhedron_pts += this_loop
+
+    if connect_ends:
+        connect_loop_start_index = len(polyhedron_pts) - shape_pt_count
+        loop_facets = _loop_facet_indices(connect_loop_start_index, shape_pt_count, 0)
+        facet_indices += loop_facets
+
+    elif cap_ends:
+        # OpenSCAD's polyhedron will automatically triangulate faces as needed.
+        # So just include all points at each end of the tube
+        last_loop_start_index = len(polyhedron_pts) - shape_pt_count
+        start_loop_indices = list(reversed(range(shape_pt_count)))
+        end_loop_indices = list(
+            range(last_loop_start_index, last_loop_start_index + shape_pt_count)
+        )
+        facet_indices.append(start_loop_indices)
+        facet_indices.append(end_loop_indices)
+
+    return polyhedron(points=euc_to_arr(polyhedron_pts), faces=facet_indices)  # type: ignore
+
+
+def _loop_facet_indices(
+    loop_start_index: int, loop_pt_count: int, next_loop_start_index=None
+) -> list[FacetIndices]:
+    facet_indices: list[FacetIndices] = []
+    # nlsi == next_loop_start_index
+    if next_loop_start_index is None:
+        next_loop_start_index = loop_start_index + loop_pt_count
+    loop_indices = list(range(loop_start_index, loop_pt_count + loop_start_index)) + [
+        loop_start_index
+    ]
+    next_loop_indices = list(
+        range(next_loop_start_index, loop_pt_count + next_loop_start_index)
+    ) + [next_loop_start_index]
+
+    for i, (a, b) in enumerate(zip(loop_indices[:-1], loop_indices[1:])):
+        c, d = next_loop_indices[i : i + 2]
+        # OpenSCAD's polyhedron will accept quads and do its own triangulation with them,
+        # so we could just append (a,b,d,c).
+        # However, this lets OpenSCAD (Or CGAL?) do its own triangulation, leading
+        # to some strange outcomes. Prefer to do our own triangulation.
+        #   c--d
+        #   |\ |
+        #   | \|
+        #   a--b
+        # facet_indices.append((a,b,d,c))
+        facet_indices.append((a, b, c))
+        facet_indices.append((b, d, c))
+    return facet_indices
+
+
+def _rotate_loop(
+    points: Sequence[Point3], rotation_degrees: float = None
+) -> list[Point3]:
+    if rotation_degrees is None:
+        return points
+    up = Vector3(0, 0, 1)
+    rads = radians(rotation_degrees)
+    return [p.rotate_around(up, rads) for p in points]
+
+
+def _scale_loop(
+    points: Sequence[Point3], scale: Union[float, Point2, Tuple2] = None
+) -> list[Point3]:
+    if scale is None:
+        return points
+
+    if isinstance(scale, (float, int)):
+        scale = [scale] * 2
+    return [Point3(point.x * scale[0], point.y * scale[1], point.z) for point in points]
+
+
+def _transform_loop(
+    points: Sequence[Point3],
+    transform_func: Point3Transform = None,
+    path_normal: float = None,
+) -> list[Point3]:
+    # transform_func is a function that takes a point and optionally two floats,
+    # a `path_normal`, in [0,1] that indicates where this loop is in a path extrusion,
+    # and `loop_normal` in [0,1] that indicates where this point is in a list of points
+    if transform_func is None:
+        return points
+
+    result = []
+    for i, p in enumerate(points):
+        # i goes from 0 to 1 across points
+        loop_normal = i / (len(points) - 1)
+        new_p = transform_func(p, path_normal, loop_normal)
+        result.append(new_p)
+    return result
diff --git a/solid/objects.py b/solid/objects.py
index a242529f..bdb685d2 100644
--- a/solid/objects.py
+++ b/solid/objects.py
@@ -1,17 +1,18 @@
 """
 Classes for OpenSCAD builtins
 """
-from pathlib import Path
+
+from pathlib import Path, PureWindowsPath
 from types import SimpleNamespace
-from typing import Dict, Optional, Sequence, Tuple, Union
+from typing import Optional, Sequence, Union
 
-from .solidpython import OpenSCADObject
+from .solidpython import IncludedOpenSCADObject, OpenSCADObject
 
 PathStr = Union[Path, str]
 
-P2 = Tuple[float, float]
-P3 = Tuple[float, float, float]
-P4 = Tuple[float, float, float, float]
+P2 = tuple[float, float]
+P3 = tuple[float, float, float]
+P4 = tuple[float, float, float, float]
 Vec3 = P3
 Vec4 = P4
 Vec34 = Union[Vec3, Vec4]
@@ -22,6 +23,8 @@
 ScadSize = Union[int, Sequence[float]]
 OpenSCADObjectPlus = Union[OpenSCADObject, Sequence[OpenSCADObject]]
 
+IMPORTED_SCAD_MODULES: dict[Path, SimpleNamespace] = {}
+
 
 class polygon(OpenSCADObject):
     """
@@ -30,19 +33,36 @@ class polygon(OpenSCADObject):
     :param points: the list of points of the polygon
     :type points: sequence of 2 element sequences
 
-    :param paths: Either a single vector, enumerating the point list, ie. the 
-    order to traverse the points, or, a vector of vectors, ie a list of point 
-    lists for each separate curve of the polygon. The latter is required if the 
-    polygon has holes. The parameter is optional and if omitted the points are 
-    assumed in order. (The 'pN' components of the *paths* vector are 0-indexed 
+    :param paths: Either a single vector, enumerating the point list, ie. the
+    order to traverse the points, or, a vector of vectors, ie a list of point
+    lists for each separate curve of the polygon. The latter is required if the
+    polygon has holes. The parameter is optional and if omitted the points are
+    assumed in order. (The 'pN' components of the *paths* vector are 0-indexed
     references to the elements of the *points* vector.)
+
+    :param convexity: OpenSCAD's convexity... yadda yadda
+
+    NOTE: OpenSCAD accepts only 2D points for `polygon()`. Convert any 3D points
+    to 2D before compiling
     """
 
-    def __init__(self, points: Points, paths: Indexes = None) -> None:
-        if not paths:
-            paths = [list(range(len(points)))]
-        super().__init__('polygon',
-                         {'points': points, 'paths': paths})
+    def __init__(
+        self,
+        points: Union[Points, IncludedOpenSCADObject],
+        paths: Indexes = None,
+        convexity: int = None,
+    ) -> None:
+        # Force points to 2D if they're defined in Python, pass through if they're
+        # included OpenSCAD code
+        pts = points  # type: ignore
+        if not isinstance(points, IncludedOpenSCADObject):
+            pts = list([(p[0], p[1]) for p in points])  # type: ignore
+
+        args = {"points": pts, "convexity": convexity}
+        # If not supplied, OpenSCAD assumes all points in order for paths
+        if paths:
+            args["paths"] = paths  # type: ignore
+        super().__init__("polygon", args)
 
 
 class circle(OpenSCADObject):
@@ -61,8 +81,7 @@ class circle(OpenSCADObject):
     """
 
     def __init__(self, r: float = None, d: float = None, segments: int = None) -> None:
-        super().__init__('circle',
-                         {'r': r, 'd': d, 'segments': segments})
+        super().__init__("circle", {"r": r, "d": d, "segments": segments})
 
 
 class square(OpenSCADObject):
@@ -72,20 +91,19 @@ class square(OpenSCADObject):
     in the first quadrant. The argument names are optional if the arguments
     are given in the same order as specified in the parameters
 
-    :param size: If a single number is given, the result will be a square with 
-    sides of that length. If a 2 value sequence is given, then the values will 
+    :param size: If a single number is given, the result will be a square with
+    sides of that length. If a 2 value sequence is given, then the values will
     correspond to the lengths of the X and Y sides.  Default value is 1.
     :type size: number or 2 value sequence
 
-    :param center: This determines the positioning of the object. If True, 
-    object is centered at (0,0). Otherwise, the square is placed in the positive 
+    :param center: This determines the positioning of the object. If True,
+    object is centered at (0,0). Otherwise, the square is placed in the positive
     quadrant with one corner at (0,0). Defaults to False.
     :type center: boolean
     """
 
     def __init__(self, size: ScadSize = None, center: bool = None) -> None:
-        super().__init__('square',
-                         {'size': size, 'center': center})
+        super().__init__("square", {"size": size, "center": center})
 
 
 class sphere(OpenSCADObject):
@@ -104,8 +122,7 @@ class sphere(OpenSCADObject):
     """
 
     def __init__(self, r: float = None, d: float = None, segments: int = None) -> None:
-        super().__init__('sphere',
-                         {'r': r, 'd': d, 'segments': segments})
+        super().__init__("sphere", {"r": r, "d": d, "segments": segments})
 
 
 class cube(OpenSCADObject):
@@ -115,20 +132,19 @@ class cube(OpenSCADObject):
     the first octant. The argument names are optional if the arguments are
     given in the same order as specified in the parameters
 
-    :param size: If a single number is given, the result will be a cube with 
-    sides of that length. If a 3 value sequence is given, then the values will 
+    :param size: If a single number is given, the result will be a cube with
+    sides of that length. If a 3 value sequence is given, then the values will
     correspond to the lengths of the X, Y, and Z sides. Default value is 1.
     :type size: number or 3 value sequence
 
-    :param center: This determines the positioning of the object. If True, 
-    object is centered at (0,0,0). Otherwise, the cube is placed in the positive 
+    :param center: This determines the positioning of the object. If True,
+    object is centered at (0,0,0). Otherwise, the cube is placed in the positive
     quadrant with one corner at (0,0,0). Defaults to False
     :type center: boolean
     """
 
     def __init__(self, size: ScadSize = None, center: bool = None) -> None:
-        super().__init__('cube',
-                         {'size': size, 'center': center})
+        super().__init__("cube", {"size": size, "center": center})
 
 
 class cylinder(OpenSCADObject):
@@ -140,7 +156,7 @@ class cylinder(OpenSCADObject):
     :param h: This is the height of the cylinder. Default value is 1.
     :type h: number
 
-    :param r: The radius of both top and bottom ends of the cylinder. Use this 
+    :param r: The radius of both top and bottom ends of the cylinder. Use this
     parameter if you want plain cylinder. Default value is 1.
     :type r: number
 
@@ -160,8 +176,8 @@ class cylinder(OpenSCADObject):
     :param d2: This is the diameter of the cone on top end. Default value is 1.
     :type d2: number
 
-    :param center: If True will center the height of the cone/cylinder around 
-    the origin. Default is False, placing the base of the cylinder or r1 radius 
+    :param center: If True will center the height of the cone/cylinder around
+    the origin. Default is False, placing the base of the cylinder or r1 radius
     of cone at the origin.
     :type center: boolean
 
@@ -169,13 +185,32 @@ class cylinder(OpenSCADObject):
     :type segments: int
     """
 
-    def __init__(self, r: float = None, h: float = None, r1: float = None, r2: float = None,
-                 d: float = None, d1: float = None, d2: float = None, center: bool = None,
-                 segments: int = None) -> None:
-        super().__init__('cylinder',
-                         {'r': r, 'h': h, 'r1': r1, 'r2': r2, 'd': d,
-                          'd1': d1, 'd2': d2, 'center': center,
-                          'segments': segments})
+    def __init__(
+        self,
+        r: float = None,
+        h: float = None,
+        r1: float = None,
+        r2: float = None,
+        d: float = None,
+        d1: float = None,
+        d2: float = None,
+        center: bool = None,
+        segments: int = None,
+    ) -> None:
+        super().__init__(
+            "cylinder",
+            {
+                "r": r,
+                "h": h,
+                "r1": r1,
+                "r2": r2,
+                "d": d,
+                "d1": d1,
+                "d2": d2,
+                "center": center,
+                "segments": segments,
+            },
+        )
 
 
 class polyhedron(OpenSCADObject):
@@ -189,28 +224,39 @@ class polyhedron(OpenSCADObject):
 
     :param points: sequence of points or vertices (each a 3 number sequence).
 
-    :param triangles: (*deprecated in version 2014.03, use faces*) vector of 
-    point triplets (each a 3 number sequence). Each number is the 0-indexed point 
+    :param triangles: (*deprecated in version 2014.03, use faces*) vector of
+    point triplets (each a 3 number sequence). Each number is the 0-indexed point
     number from the point vector.
 
-    :param faces: (*introduced in version 2014.03*) vector of point n-tuples 
-    with n >= 3. Each number is the 0-indexed point number from the point vector.  
-    That is, faces=[[0,1,4]] specifies a triangle made from the first, second, 
-    and fifth point listed in points. When referencing more than 3 points in a 
+    :param faces: (*introduced in version 2014.03*) vector of point n-tuples
+    with n >= 3. Each number is the 0-indexed point number from the point vector.
+    That is, faces=[[0,1,4]] specifies a triangle made from the first, second,
+    and fifth point listed in points. When referencing more than 3 points in a
     single tuple, the points must all be on the same plane.
 
-    :param convexity: The convexity parameter specifies the maximum number of 
-    front sides (back sides) a ray intersecting the object might penetrate. This 
-    parameter is only needed for correctly displaying the object in OpenCSG 
+    :param convexity: The convexity parameter specifies the maximum number of
+    front sides (back sides) a ray intersecting the object might penetrate. This
+    parameter is only needed for correctly displaying the object in OpenCSG
     preview mode and has no effect on the polyhedron rendering.
     :type convexity: int
     """
 
-    def __init__(self, points: P3s, faces: Indexes, convexity: int = None, triangles: Indexes = None) -> None:
-        super().__init__('polyhedron',
-                         {'points': points, 'faces': faces,
-                          'convexity': convexity,
-                          'triangles': triangles})
+    def __init__(
+        self,
+        points: P3s,
+        faces: Indexes,
+        convexity: int = 10,
+        triangles: Indexes = None,
+    ) -> None:
+        super().__init__(
+            "polyhedron",
+            {
+                "points": points,
+                "faces": faces,
+                "convexity": convexity,
+                "triangles": triangles,
+            },
+        )
 
 
 class union(OpenSCADObject):
@@ -220,7 +266,7 @@ class union(OpenSCADObject):
     """
 
     def __init__(self) -> None:
-        super().__init__('union', {})
+        super().__init__("union", {})
 
     def __add__(self, x: OpenSCADObjectPlus) -> OpenSCADObject:
         new_union = union()
@@ -238,7 +284,7 @@ class intersection(OpenSCADObject):
     """
 
     def __init__(self) -> None:
-        super().__init__('intersection', {})
+        super().__init__("intersection", {})
 
     def __mul__(self, x: OpenSCADObjectPlus) -> OpenSCADObject:
         new_int = intersection()
@@ -255,7 +301,7 @@ class difference(OpenSCADObject):
     """
 
     def __init__(self) -> None:
-        super().__init__('difference', {})
+        super().__init__("difference", {})
 
     def __sub__(self, x: OpenSCADObjectPlus) -> OpenSCADObject:
         new_diff = difference()
@@ -268,13 +314,13 @@ def __sub__(self, x: OpenSCADObjectPlus) -> OpenSCADObject:
 
 class hole(OpenSCADObject):
     def __init__(self) -> None:
-        super().__init__('hole', {})
+        super().__init__("hole", {})
         self.set_hole(is_hole=True)
 
 
 class part(OpenSCADObject):
     def __init__(self) -> None:
-        super().__init__('part', {})
+        super().__init__("part", {})
         self.set_part_root(is_root=True)
 
 
@@ -287,7 +333,7 @@ class translate(OpenSCADObject):
     """
 
     def __init__(self, v: P3 = None) -> None:
-        super().__init__('translate', {'v': v})
+        super().__init__("translate", {"v": v})
 
 
 class scale(OpenSCADObject):
@@ -299,7 +345,7 @@ class scale(OpenSCADObject):
     """
 
     def __init__(self, v: P3 = None) -> None:
-        super().__init__('scale', {'v': v})
+        super().__init__("scale", {"v": v})
 
 
 class rotate(OpenSCADObject):
@@ -315,7 +361,7 @@ class rotate(OpenSCADObject):
     """
 
     def __init__(self, a: Union[float, Vec3] = None, v: Vec3 = None) -> None:
-        super().__init__('rotate', {'a': a, 'v': v})
+        super().__init__("rotate", {"a": a, "v": v})
 
 
 class mirror(OpenSCADObject):
@@ -328,7 +374,7 @@ class mirror(OpenSCADObject):
     """
 
     def __init__(self, v: Vec3) -> None:
-        super().__init__('mirror', {'v': v})
+        super().__init__("mirror", {"v": v})
 
 
 class resize(OpenSCADObject):
@@ -337,13 +383,13 @@ class resize(OpenSCADObject):
 
     :param newsize: X, Y and Z values
     :type newsize: 3 value sequence
-    
+
     :param auto: 3-tuple of booleans to specify which axes should be scaled
     :type auto: 3 boolean sequence
     """
 
-    def __init__(self, newsize: Vec3, auto: Tuple[bool, bool, bool] = None) -> None:
-        super().__init__('resize', {'newsize': newsize, 'auto': auto})
+    def __init__(self, newsize: Vec3, auto: tuple[bool, bool, bool] = None) -> None:
+        super().__init__("resize", {"newsize": newsize, "auto": auto})
 
 
 class multmatrix(OpenSCADObject):
@@ -355,8 +401,8 @@ class multmatrix(OpenSCADObject):
     :type m: sequence of 4 sequences, each containing 4 numbers.
     """
 
-    def __init__(self, m: Tuple[Vec4, Vec4, Vec4, Vec4]) -> None:
-        super().__init__('multmatrix', {'m': m})
+    def __init__(self, m: tuple[Vec4, Vec4, Vec4, Vec4]) -> None:
+        super().__init__("multmatrix", {"m": m})
 
 
 class color(OpenSCADObject):
@@ -367,11 +413,14 @@ class color(OpenSCADObject):
     not specified.
 
     :param c: RGB color + alpha value.
-    :type c: sequence of 3 or 4 numbers between 0 and 1
+    :type c: sequence of 3 or 4 numbers between 0 and 1, OR 3-, 4-, 6-, or 8-digit RGB/A hex code, OR string color name as described at https://en.wikibooks.org/wiki/OpenSCAD_User_Manual/Transformations#color
+
+    :param alpha: Alpha value from 0 to 1
+    :type alpha: float
     """
 
-    def __init__(self, c: Vec34) -> None:
-        super().__init__('color', {'c': c})
+    def __init__(self, c: Union[Vec34, str], alpha: float = 1.0) -> None:
+        super().__init__("color", {"c": c, "alpha": alpha})
 
 
 class minkowski(OpenSCADObject):
@@ -382,36 +431,47 @@ class minkowski(OpenSCADObject):
     """
 
     def __init__(self) -> None:
-        super().__init__('minkowski', {})
+        super().__init__("minkowski", {})
 
 
 class offset(OpenSCADObject):
     """
-    
-    :param r: Amount to offset the polygon (rounded corners). When negative, 
-        the polygon is offset inwards. The parameter r specifies the radius 
+
+    :param r: Amount to offset the polygon (rounded corners). When negative,
+        the polygon is offset inwards. The parameter r specifies the radius
         that is used to generate rounded corners, using delta gives straight edges.
     :type r: number
-    
-    :param delta: Amount to offset the polygon (sharp corners). When negative, 
-        the polygon is offset inwards. The parameter r specifies the radius 
+
+    :param delta: Amount to offset the polygon (sharp corners). When negative,
+        the polygon is offset inwards. The parameter r specifies the radius
         that is used to generate rounded corners, using delta gives straight edges.
     :type delta: number
-    
-    :param chamfer: When using the delta parameter, this flag defines if edges 
-        should be chamfered (cut off with a straight line) or not (extended to 
+
+    :param chamfer: When using the delta parameter, this flag defines if edges
+        should be chamfered (cut off with a straight line) or not (extended to
         their intersection).
     :type chamfer: bool
+
+    :param segments: Resolution of any radial curves
+    :type segments: int
     """
 
-    def __init__(self, r: float = None, delta: float = None, chamfer: bool = False) -> None:
-        if r:
-            kwargs = {'r': r}
-        elif delta:
-            kwargs = {'delta': delta, 'chamfer': chamfer}
+    def __init__(
+        self,
+        r: float = None,
+        delta: float = None,
+        chamfer: bool = False,
+        segments: int = None,
+    ) -> None:
+        if r is not None:
+            kwargs = {"r": r}
+        elif delta is not None:
+            kwargs = {"delta": delta, "chamfer": chamfer}
         else:
             raise ValueError("offset(): Must supply r or delta")
-        super().__init__('offset', kwargs)
+        if segments:
+            kwargs["segments"] = segments
+        super().__init__("offset", kwargs)
 
 
 class hull(OpenSCADObject):
@@ -422,7 +482,7 @@ class hull(OpenSCADObject):
     """
 
     def __init__(self) -> None:
-        super().__init__('hull', {})
+        super().__init__("hull", {})
 
 
 class render(OpenSCADObject):
@@ -435,7 +495,7 @@ class render(OpenSCADObject):
     """
 
     def __init__(self, convexity: int = None) -> None:
-        super().__init__('render', {'convexity': convexity})
+        super().__init__("render", {"convexity": convexity})
 
 
 class linear_extrude(OpenSCADObject):
@@ -450,14 +510,14 @@ class linear_extrude(OpenSCADObject):
     :param center: determines if the object is centered on the Z-axis after extrusion.
     :type center: boolean
 
-    :param convexity: The convexity parameter specifies the maximum number of 
-    front sides (back sides) a ray intersecting the object might penetrate. This 
-    parameter is only needed for correctly displaying the object in OpenCSG 
+    :param convexity: The convexity parameter specifies the maximum number of
+    front sides (back sides) a ray intersecting the object might penetrate. This
+    parameter is only needed for correctly displaying the object in OpenCSG
     preview mode and has no effect on the polyhedron rendering.
     :type convexity: int
 
-    :param twist: Twist is the number of degrees of through which the shape is 
-    extruded.  Setting to 360 will extrude through one revolution.  The twist 
+    :param twist: Twist is the number of degrees of through which the shape is
+    extruded.  Setting to 360 will extrude through one revolution.  The twist
     direction follows the left hand rule.
     :type twist: number
 
@@ -469,12 +529,26 @@ class linear_extrude(OpenSCADObject):
 
     """
 
-    def __init__(self, height: float = None, center: bool = None, convexity: int = None,
-                 twist: float = None, slices: int = None, scale: float = None) -> None:
-        super().__init__('linear_extrude',
-                         {'height': height, 'center': center,
-                          'convexity': convexity, 'twist': twist,
-                          'slices': slices, 'scale': scale})
+    def __init__(
+        self,
+        height: float = None,
+        center: bool = None,
+        convexity: int = None,
+        twist: float = None,
+        slices: int = None,
+        scale: float = None,
+    ) -> None:
+        super().__init__(
+            "linear_extrude",
+            {
+                "height": height,
+                "center": center,
+                "convexity": convexity,
+                "twist": twist,
+                "slices": slices,
+                "scale": scale,
+            },
+        )
 
 
 class rotate_extrude(OpenSCADObject):
@@ -491,37 +565,54 @@ class rotate_extrude(OpenSCADObject):
     is in the negative axis the faces will be inside-out, you probably don't
     want to do that; it may be fixed in the future.
 
-    :param angle: Defaults to 360. Specifies the number of degrees to sweep, 
-    starting at the positive X axis. The direction of the sweep follows the 
+    :param angle: Defaults to 360. Specifies the number of degrees to sweep,
+    starting at the positive X axis. The direction of the sweep follows the
     Right Hand Rule, hence a negative angle will sweep clockwise.
     :type angle: number
-    
+
     :param segments: Number of fragments in 360 degrees.
     :type segments: int
 
-    :param convexity: The convexity parameter specifies the maximum number of 
-    front sides (back sides) a ray intersecting the object might penetrate. This 
-    parameter is only needed for correctly displaying the object in OpenCSG 
+    :param convexity: The convexity parameter specifies the maximum number of
+    front sides (back sides) a ray intersecting the object might penetrate. This
+    parameter is only needed for correctly displaying the object in OpenCSG
     preview mode and has no effect on the polyhedron rendering.
     :type convexity: int
 
     """
 
-    def __init__(self, angle: float = 360, convexity: int = None, segments: int = None) -> None:
-        super().__init__('rotate_extrude',
-                         {'angle': angle, 'segments': segments,
-                          'convexity': convexity})
+    def __init__(
+        self, angle: float = 360, convexity: int = None, segments: int = None
+    ) -> None:
+        super().__init__(
+            "rotate_extrude",
+            {"angle": angle, "segments": segments, "convexity": convexity},
+        )
 
 
 class dxf_linear_extrude(OpenSCADObject):
-    def __init__(self, file: PathStr, layer: float = None, height: float = None,
-                 center: bool = None, convexity: int = None, twist: float = None,
-                 slices: int = None) -> None:
-        super().__init__('dxf_linear_extrude',
-                         {'file': Path(file).as_posix(), 'layer': layer,
-                          'height': height, 'center': center,
-                          'convexity': convexity, 'twist': twist,
-                          'slices': slices})
+    def __init__(
+        self,
+        file: PathStr,
+        layer: float = None,
+        height: float = None,
+        center: bool = None,
+        convexity: int = None,
+        twist: float = None,
+        slices: int = None,
+    ) -> None:
+        super().__init__(
+            "dxf_linear_extrude",
+            {
+                "file": Path(file).as_posix(),
+                "layer": layer,
+                "height": height,
+                "center": center,
+                "convexity": convexity,
+                "twist": twist,
+                "slices": slices,
+            },
+        )
 
 
 class projection(OpenSCADObject):
@@ -529,14 +620,14 @@ class projection(OpenSCADObject):
     Creates 2d shapes from 3d models, and export them to the dxf format.
     It works by projecting a 3D model to the (x,y) plane, with z at 0.
 
-    :param cut: when True only points with z=0 will be considered (effectively 
-    cutting the object) When False points above and below the plane will be 
+    :param cut: when True only points with z=0 will be considered (effectively
+    cutting the object) When False points above and below the plane will be
     considered as well (creating a proper projection).
     :type cut: boolean
     """
 
     def __init__(self, cut: bool = None) -> None:
-        super().__init__('projection', {'cut': cut})
+        super().__init__("projection", {"cut": cut})
 
 
 class surface(OpenSCADObject):
@@ -546,64 +637,67 @@ class surface(OpenSCADObject):
     :param file: The path to the file containing the heightmap data.
     :type file: PathStr
 
-    :param center: This determines the positioning of the generated object. If 
-    True, object is centered in X- and Y-axis. Otherwise, the object is placed 
+    :param center: This determines the positioning of the generated object. If
+    True, object is centered in X- and Y-axis. Otherwise, the object is placed
     in the positive quadrant. Defaults to False.
     :type center: boolean
 
-    :param invert: Inverts how the color values of imported images are translated 
-    into height values. This has no effect when importing text data files. 
+    :param invert: Inverts how the color values of imported images are translated
+    into height values. This has no effect when importing text data files.
     Defaults to False.
     :type invert: boolean
 
-    :param convexity: The convexity parameter specifies the maximum number of 
-    front sides (back sides) a ray intersecting the object might penetrate. 
-    This parameter is only needed for correctly displaying the object in OpenCSG 
+    :param convexity: The convexity parameter specifies the maximum number of
+    front sides (back sides) a ray intersecting the object might penetrate.
+    This parameter is only needed for correctly displaying the object in OpenCSG
     preview mode and has no effect on the polyhedron rendering.
     :type convexity: int
     """
 
-    def __init__(self, file, center: bool = None, convexity: int = None, invert=None) -> None:
-        super().__init__('surface',
-                         {'file': file, 'center': center,
-                          'convexity': convexity, 'invert': invert})
+    def __init__(
+        self, file, center: bool = None, convexity: int = None, invert=None
+    ) -> None:
+        super().__init__(
+            "surface",
+            {"file": file, "center": center, "convexity": convexity, "invert": invert},
+        )
 
 
 class text(OpenSCADObject):
     """
-    Create text using fonts installed on the local system or provided as separate 
+    Create text using fonts installed on the local system or provided as separate
     font file.
 
     :param text: The text to generate.
     :type text: string
 
-    :param size: The generated text will have approximately an ascent of the given 
-    value (height above the baseline). Default is 10.  Note that specific fonts 
-    will vary somewhat and may not fill the size specified exactly, usually 
+    :param size: The generated text will have approximately an ascent of the given
+    value (height above the baseline). Default is 10.  Note that specific fonts
+    will vary somewhat and may not fill the size specified exactly, usually
     slightly smaller.
     :type size: number
 
-    :param font: The name of the font that should be used. This is not the name 
-    of the font file, but the logical font name (internally handled by the 
-    fontconfig library). A list of installed fonts can be obtained using the 
-    font list dialog (Help -> Font List).
+    :param font: The name of the font that should be used. This is not the name
+    of the font file, but the logical font name (internally handled by the
+    fontconfig library). A list of installed fonts can be obtained using the
+    font list dialog (Help -> Font list).
     :type font: string
 
-    :param halign: The horizontal alignment for the text. Possible values are 
+    :param halign: The horizontal alignment for the text. Possible values are
     "left", "center" and "right". Default is "left".
     :type halign: string
 
-    :param valign: The vertical alignment for the text. Possible values are 
+    :param valign: The vertical alignment for the text. Possible values are
     "top", "center", "baseline" and "bottom". Default is "baseline".
     :type valign: string
 
-    :param spacing: Factor to increase/decrease the character spacing.  The 
-    default value of 1 will result in the normal spacing for the font, giving 
+    :param spacing: Factor to increase/decrease the character spacing.  The
+    default value of 1 will result in the normal spacing for the font, giving
     a value greater than 1 will cause the letters to be spaced further apart.
     :type spacing: number
 
-    :param direction: Direction of the text flow. Possible values are "ltr" 
-    (left-to-right), "rtl" (right-to-left), "ttb" (top-to-bottom) and "btt" 
+    :param direction: Direction of the text flow. Possible values are "ltr"
+    (left-to-right), "rtl" (right-to-left), "ttb" (top-to-bottom) and "btt"
     (bottom-to-top). Default is "ltr".
     :type direction: string
 
@@ -613,27 +707,46 @@ class text(OpenSCADObject):
     :param script: The script of the text. Default is "latin".
     :type script: string
 
-    :param segments: used for subdividing the curved path segments provided by 
+    :param segments: used for subdividing the curved path segments provided by
     freetype
     :type segments: int
     """
 
-    def __init__(self, text: str, size: float = None, font: str = None, halign: str = None,
-                 valign: str = None, spacing: float = None, direction: str = None,
-                 language: str = None, script: str = None, segments: int = None) -> None:
-        super().__init__('text',
-                         {'text': text, 'size': size, 'font': font,
-                          'halign': halign, 'valign': valign,
-                          'spacing': spacing, 'direction': direction,
-                          'language': language, 'script': script,
-                          'segments': segments})
+    def __init__(
+        self,
+        text: str,
+        size: float = None,
+        font: str = None,
+        halign: str = None,
+        valign: str = None,
+        spacing: float = None,
+        direction: str = None,
+        language: str = None,
+        script: str = None,
+        segments: int = None,
+    ) -> None:
+        super().__init__(
+            "text",
+            {
+                "text": text,
+                "size": size,
+                "font": font,
+                "halign": halign,
+                "valign": valign,
+                "spacing": spacing,
+                "direction": direction,
+                "language": language,
+                "script": script,
+                "segments": segments,
+            },
+        )
 
 
 class child(OpenSCADObject):
-    def __init__(self, index: int = None, vector: Sequence[int] = None, range=None) -> None:
-        super().__init__('child',
-                         {'index': index, 'vector': vector,
-                          'range': range})
+    def __init__(
+        self, index: int = None, vector: Sequence[int] = None, range=None
+    ) -> None:
+        super().__init__("child", {"index": index, "vector": vector, "range": range})
 
 
 class children(OpenSCADObject):
@@ -642,35 +755,50 @@ class children(OpenSCADObject):
     children() statement within the module. The number of module children
     can be accessed using the $children variable.
 
-    :param index: select one child, at index value. Index start at 0 and should 
+    :param index: select one child, at index value. Index start at 0 and should
     be less than or equal to $children-1.
     :type index: int
 
-    :param vector: select children with index in vector. Index should be between 
+    :param vector: select children with index in vector. Index should be between
     0 and $children-1.
     :type vector: sequence of int
 
     :param range: [:] or [::]. select children between to , incremented by (default 1).
     """
 
-    def __init__(self, index: int = None, vector: float = None, range: P23 = None) -> None:
-        super().__init__('children',
-                         {'index': index, 'vector': vector,
-                          'range': range})
+    def __init__(
+        self, index: int = None, vector: float = None, range: P23 = None
+    ) -> None:
+        super().__init__("children", {"index": index, "vector": vector, "range": range})
 
 
 class import_stl(OpenSCADObject):
-    def __init__(self, file: PathStr, origin: P2 = (0, 0), convexity: int = None, layer: int = None) -> None:
-        super().__init__('import',
-                         {'file': Path(file).as_posix(), 'origin': origin,
-                          'convexity': convexity, 'layer': layer})
+    def __init__(
+        self,
+        file: PathStr,
+        origin: P2 = (0, 0),
+        convexity: int = None,
+        layer: int = None,
+    ) -> None:
+        super().__init__(
+            "import",
+            {
+                "file": Path(file).as_posix(),
+                "origin": origin,
+                "convexity": convexity,
+                "layer": layer,
+            },
+        )
 
 
 class import_dxf(OpenSCADObject):
-    def __init__(self, file, origin=(0, 0), convexity: int = None, layer: int = None) -> None:
-        super().__init__('import',
-                         {'file': file, 'origin': origin,
-                          'convexity': convexity, 'layer': layer})
+    def __init__(
+        self, file, origin=(0, 0), convexity: int = None, layer: int = None
+    ) -> None:
+        super().__init__(
+            "import",
+            {"file": file, "origin": origin, "convexity": convexity, "layer": layer},
+        )
 
 
 class import_(OpenSCADObject):
@@ -681,17 +809,29 @@ class import_(OpenSCADObject):
     :param file: path to the STL or DXF file.
     :type file: PathStr
 
-    :param convexity: The convexity parameter specifies the maximum number of 
-    front sides (back sides) a ray intersecting the object might penetrate. This 
-    parameter is only needed for correctly displaying the object in OpenCSG 
+    :param convexity: The convexity parameter specifies the maximum number of
+    front sides (back sides) a ray intersecting the object might penetrate. This
+    parameter is only needed for correctly displaying the object in OpenCSG
     preview mode and has no effect on the polyhedron rendering.
     :type convexity: int
     """
 
-    def __init__(self, file: PathStr, origin: P2 = (0, 0), convexity: int = None, layer: int = None) -> None:
-        super().__init__('import',
-                         {'file': Path(file).as_posix(), 'origin': origin,
-                          'convexity': convexity, 'layer': layer})
+    def __init__(
+        self,
+        file: PathStr,
+        origin: P2 = (0, 0),
+        convexity: int = None,
+        layer: int = None,
+    ) -> None:
+        super().__init__(
+            "import",
+            {
+                "file": Path(file).as_posix(),
+                "origin": origin,
+                "convexity": convexity,
+                "layer": layer,
+            },
+        )
 
 
 class intersection_for(OpenSCADObject):
@@ -701,12 +841,12 @@ class intersection_for(OpenSCADObject):
     """
 
     def __init__(self, n: int) -> None:
-        super().__init__('intersection_for', {'n': n})
+        super().__init__("intersection_for", {"n": n})
 
 
 class assign(OpenSCADObject):
     def __init__(self) -> None:
-        super().__init__('assign', {})
+        super().__init__("assign", {})
 
 
 # ================================
@@ -735,56 +875,134 @@ def disable(openscad_obj: OpenSCADObject) -> OpenSCADObject:
 # ===========================
 # = IMPORTING OPENSCAD CODE =
 # ===========================
-def import_scad(scad_filepath: PathStr) -> Optional[SimpleNamespace]:
+def import_scad(scad_file_or_dir: PathStr) -> SimpleNamespace:
+    """
+    Recursively look in current directory & OpenSCAD library directories for
+        OpenSCAD files. Create Python mappings for all OpenSCAD modules & functions
+    Return a namespace or raise ValueError if no scad files found
     """
-    import_scad() is the namespaced, more Pythonic way to import OpenSCAD code.
-    Return a python namespace containing all imported SCAD modules
+    global IMPORTED_SCAD_MODULES
 
-    If scad_filepath is a single .scad file, all modules will be imported,
-        e.g. 
-        motors = solid.import_scad('<PATH_TO/MCAD/motors.scad')
-        print(dir(motors)) # => [_stepper_motor_mount', 'stepper_motor_mount']
+    scad = Path(scad_file_or_dir)
+    candidates: list[Path] = [scad]
 
-    If scad_filepath is a directory, recursively import all scad files below
-        the directory and subdirectories within it.
-        e.g. 
-        mcad = solid.import_scad('<PATH_TO/MCAD')
-        dir(mcad) # => ['bearing', 'boxes', 'constants', 'curves',...]
-        dir(mcad.bearing) # => ['bearing', 'bearingDimensions', ...]
-    """
-    scad = Path(scad_filepath)
+    ns = IMPORTED_SCAD_MODULES.get(scad)
+    if ns:
+        return ns
+    else:
+        if not scad.is_absolute():
+            candidates = [d / scad for d in _openscad_library_paths()]
+
+        for candidate_path in candidates:
+            namespace = _import_scad(candidate_path)
+            if namespace is not None:
+                IMPORTED_SCAD_MODULES[scad] = namespace
+                return namespace
+    raise ValueError(
+        f"Could not find .scad files at or under {scad}. \nLocations searched were: {candidates}"
+    )
 
-    namespace: Optional[SimpleNamespace] = SimpleNamespace()
-    scad_found = False
 
-    if scad.is_file():
-        scad_found = True
-        use(scad.absolute().as_posix(), dest_namespace_dict=namespace.__dict__)
+def _import_scad(scad: Path) -> Optional[SimpleNamespace]:
+    """
+    cases:
+        single scad file:
+            return a namespace populated with `use()`
+        directory
+            recurse into all subdirectories and *.scad files
+            return namespace if scad files are underneath, otherwise None
+        non-scad file:
+            return None
+    """
+    namespace: Optional[SimpleNamespace] = None
+    if scad.is_file() and scad.suffix == ".scad":
+        namespace = SimpleNamespace()
+        use(scad.absolute(), dest_namespace_dict=namespace.__dict__)
     elif scad.is_dir():
-        for f in scad.glob('*.scad'):
-            subspace = import_scad(f.absolute().as_posix())
-            setattr(namespace, f.stem, subspace)
-            scad_found = True
-
-        # recurse through subdirectories, adding namespaces only if they have
-        # valid scad code under them.
-        subdirs = list([d for d in scad.iterdir() if d.is_dir()])
-        for subd in subdirs:
-            subspace = import_scad(subd.absolute().as_posix())
-            if subspace is not None:
-                setattr(namespace, subd.stem, subspace)
-                scad_found = True
-
-    namespace = namespace if scad_found else None
+        subspaces = [
+            (f, _import_scad(f))
+            for f in scad.iterdir()
+            if f.is_dir() or f.suffix == ".scad"
+        ]
+        for f, subspace in subspaces:
+            if subspace:
+                if namespace is None:
+                    namespace = SimpleNamespace()
+                # Add a subspace to namespace named by the file/dir it represents
+                package_name = f.stem
+                # Prefix an underscore to packages starting with a digit, which
+                # are valid in OpenSCAD but not in Python
+                if package_name[0].isdigit():
+                    package_name = "_" + package_name
+
+                setattr(namespace, package_name, subspace)
+
     return namespace
 
 
+def _openscad_library_paths() -> list[Path]:
+    """
+    Return system-dependent OpenSCAD library paths or paths defined in os.environ['OPENSCADPATH']
+    """
+    import platform
+    import os
+    import re
+
+    paths = [Path(".")]
+
+    user_path = os.environ.get("OPENSCADPATH")
+    if user_path:
+        for s in re.split(r"\s*[;:]\s*", user_path):
+            paths.append(Path(s))
+
+    default_paths = {
+        "Linux": [
+            Path.home() / ".local/share/OpenSCAD/libraries",
+            Path("/usr/share/openscad/libraries"),
+        ],
+        "Darwin": [
+            Path.home() / "Documents/OpenSCAD/libraries",
+            Path("/Applications/OpenSCAD.app/Contents/Resources/libraries"),
+        ],
+        "Windows": [
+            Path(PureWindowsPath("C:/Program Files/OpenSCAD/libraries")),
+            Path(
+                PureWindowsPath("C:/Program Files/OpenSCAD/libraries")
+            ),  # add others here
+        ],
+    }
+
+    paths += default_paths.get(platform.system(), [])
+    return paths
+
+
+def _find_library(library_name: PathStr) -> Path:
+    result = Path(library_name)
+
+    if not result.is_absolute():
+        paths = _openscad_library_paths()
+        for p in paths:
+            f = p / result
+            # print(f'Checking {f} -> {f.exists()}')
+            if f.exists():
+                result = f
+                break
+
+    return result
+
+
 # use() & include() mimic OpenSCAD's use/include mechanics.
 # -- use() makes methods in scad_file_path.scad available to be called.
 # --include() makes those methods available AND executes all code in
 #   scad_file_path.scad, which may have side effects.
 #   Unless you have a specific need, call use().
-def use(scad_file_path: PathStr, use_not_include: bool = True, dest_namespace_dict: Dict = None):
+
+
+def use(
+    scad_file_path: PathStr,
+    use_not_include: bool = True,
+    dest_namespace_dict: dict = None,
+):
     """
     Opens scad_file_path, parses it for all usable calls,
     and adds them to caller's namespace.
@@ -795,22 +1013,18 @@ def use(scad_file_path: PathStr, use_not_include: bool = True, dest_namespace_di
     from .solidpython import new_openscad_class_str
     from .solidpython import calling_module
 
-    scad_file_path = Path(scad_file_path)
-
-    contents = None
-    try:
-        contents = scad_file_path.read_text()
-    except Exception as e:
-        raise Exception(f"Failed to import SCAD module '{scad_file_path}' with error: {e} ")
+    scad_file_path = _find_library(scad_file_path)
 
-    # Once we have a list of all callables and arguments, dynamically
-    # add OpenSCADObject subclasses for all callables to the calling module's
-    # namespace.
-    symbols_dicts = parse_scad_callables(contents)
+    symbols_dicts = parse_scad_callables(scad_file_path)
 
     for sd in symbols_dicts:
-        class_str = new_openscad_class_str(sd['name'], sd['args'], sd['kwargs'],
-                                           scad_file_path.as_posix(), use_not_include)
+        class_str = new_openscad_class_str(
+            sd["name"],
+            sd["args"],
+            sd["kwargs"],
+            scad_file_path.as_posix(),
+            use_not_include,
+        )
         # If this is called from 'include', we have to look deeper in the stack
         # to find the right module to add the new class to.
         if dest_namespace_dict is None:
@@ -819,7 +1033,7 @@ def use(scad_file_path: PathStr, use_not_include: bool = True, dest_namespace_di
         try:
             exec(class_str, dest_namespace_dict)
         except Exception as e:
-            classname = sd['name']
+            classname = sd["name"]
             msg = f"Unable to import SCAD module: `{classname}` from `{scad_file_path.name}`, with error: {e}"
             print(msg)
 
diff --git a/solid/patch_euclid.py b/solid/patch_euclid.py
index 61bef8c7..68c30f1d 100644
--- a/solid/patch_euclid.py
+++ b/solid/patch_euclid.py
@@ -1,18 +1,31 @@
 import euclid3
-from euclid3 import *
+from euclid3 import Vector3, Vector2, Line3
 
 # NOTE: The PyEuclid on PyPi doesn't include several elements added to
 # the module as of 13 Feb 2013.  Add them here until euclid supports them
 
-def as_arr_local(self):
+def as_arr_local2(self):
+    return [self.x, self.y]
+
+def as_arr_local3(self):
     return [self.x, self.y, self.z]
 
-def set_length_local(self, length):
+def set_length_local2(self, length):
+    d = self.magnitude()
+    if d:
+        factor = length / d
+        self.x *= factor
+        self.y *= factor
+
+    return self
+
+def set_length_local3(self, length):
     d = self.magnitude()
     if d:
         factor = length / d
         self.x *= factor
         self.y *= factor
+        self.z *= factor
 
     return self
 
@@ -30,8 +43,14 @@ def _intersect_line3_line3(A, B):
 
 def run_euclid_patch():
     if 'as_arr' not in dir(Vector3):
-        Vector3.as_arr = as_arr_local
+        Vector3.as_arr = as_arr_local3
+    if 'as_arr' not in dir(Vector2):
+        Vector2.as_arr = as_arr_local2
+
     if 'set_length' not in dir(Vector3):
-        Vector3.set_length = set_length_local
+        Vector3.set_length = set_length_local3
+    if 'set_length' not in dir(Vector2):
+        Vector2.set_length = set_length_local2
+        
     if '_intersect_line3' not in dir(Line3):
         Line3._intersect_line3 = _intersect_line3_line3
diff --git a/solid/py_scadparser/LICENSE b/solid/py_scadparser/LICENSE
new file mode 100644
index 00000000..0e259d42
--- /dev/null
+++ b/solid/py_scadparser/LICENSE
@@ -0,0 +1,121 @@
+Creative Commons Legal Code
+
+CC0 1.0 Universal
+
+    CREATIVE COMMONS CORPORATION IS NOT A LAW FIRM AND DOES NOT PROVIDE
+    LEGAL SERVICES. DISTRIBUTION OF THIS DOCUMENT DOES NOT CREATE AN
+    ATTORNEY-CLIENT RELATIONSHIP. CREATIVE COMMONS PROVIDES THIS
+    INFORMATION ON AN "AS-IS" BASIS. CREATIVE COMMONS MAKES NO WARRANTIES
+    REGARDING THE USE OF THIS DOCUMENT OR THE INFORMATION OR WORKS
+    PROVIDED HEREUNDER, AND DISCLAIMS LIABILITY FOR DAMAGES RESULTING FROM
+    THE USE OF THIS DOCUMENT OR THE INFORMATION OR WORKS PROVIDED
+    HEREUNDER.
+
+Statement of Purpose
+
+The laws of most jurisdictions throughout the world automatically confer
+exclusive Copyright and Related Rights (defined below) upon the creator
+and subsequent owner(s) (each and all, an "owner") of an original work of
+authorship and/or a database (each, a "Work").
+
+Certain owners wish to permanently relinquish those rights to a Work for
+the purpose of contributing to a commons of creative, cultural and
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+of later claims of infringement build upon, modify, incorporate in other
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+and for any purposes, including without limitation commercial purposes.
+These owners may contribute to the Commons to promote the ideal of a free
+culture and the further production of creative, cultural and scientific
+works, or to gain reputation or greater distribution for their Work in
+part through the use and efforts of others.
+
+For these and/or other purposes and motivations, and without any
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+is an owner of Copyright and Related Rights in the Work, voluntarily
+elects to apply CC0 to the Work and publicly distribute the Work under its
+terms, with knowledge of his or her Copyright and Related Rights in the
+Work and the meaning and intended legal effect of CC0 on those rights.
+
+1. Copyright and Related Rights. A Work made available under CC0 may be
+protected by copyright and related or neighboring rights ("Copyright and
+Related Rights"). Copyright and Related Rights include, but are not
+limited to, the following:
+
+  i. the right to reproduce, adapt, distribute, perform, display,
+     communicate, and translate a Work;
+ ii. moral rights retained by the original author(s) and/or performer(s);
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+  v. rights protecting the extraction, dissemination, use and reuse of data
+     in a Work;
+ vi. database rights (such as those arising under Directive 96/9/EC of the
+     European Parliament and of the Council of 11 March 1996 on the legal
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+vii. other similar, equivalent or corresponding rights throughout the
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+
+2. Waiver. To the greatest extent permitted by, but not in contravention
+of, applicable law, Affirmer hereby overtly, fully, permanently,
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+Affirmer's Copyright and Related Rights and associated claims and causes
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+future claims and causes of action), in the Work (i) in all territories
+worldwide, (ii) for the maximum duration provided by applicable law or
+treaty (including future time extensions), (iii) in any current or future
+medium and for any number of copies, and (iv) for any purpose whatsoever,
+including without limitation commercial, advertising or promotional
+purposes (the "Waiver"). Affirmer makes the Waiver for the benefit of each
+member of the public at large and to the detriment of Affirmer's heirs and
+successors, fully intending that such Waiver shall not be subject to
+revocation, rescission, cancellation, termination, or any other legal or
+equitable action to disrupt the quiet enjoyment of the Work by the public
+as contemplated by Affirmer's express Statement of Purpose.
+
+3. Public License Fallback. Should any part of the Waiver for any reason
+be judged legally invalid or ineffective under applicable law, then the
+Waiver shall be preserved to the maximum extent permitted taking into
+account Affirmer's express Statement of Purpose. In addition, to the
+extent the Waiver is so judged Affirmer hereby grants to each affected
+person a royalty-free, non transferable, non sublicensable, non exclusive,
+irrevocable and unconditional license to exercise Affirmer's Copyright and
+Related Rights in the Work (i) in all territories worldwide, (ii) for the
+maximum duration provided by applicable law or treaty (including future
+time extensions), (iii) in any current or future medium and for any number
+of copies, and (iv) for any purpose whatsoever, including without
+limitation commercial, advertising or promotional purposes (the
+"License"). The License shall be deemed effective as of the date CC0 was
+applied by Affirmer to the Work. Should any part of the License for any
+reason be judged legally invalid or ineffective under applicable law, such
+partial invalidity or ineffectiveness shall not invalidate the remainder
+of the License, and in such case Affirmer hereby affirms that he or she
+will not (i) exercise any of his or her remaining Copyright and Related
+Rights in the Work or (ii) assert any associated claims and causes of
+action with respect to the Work, in either case contrary to Affirmer's
+express Statement of Purpose.
+
+4. Limitations and Disclaimers.
+
+ a. No trademark or patent rights held by Affirmer are waived, abandoned,
+    surrendered, licensed or otherwise affected by this document.
+ b. Affirmer offers the Work as-is and makes no representations or
+    warranties of any kind concerning the Work, express, implied,
+    statutory or otherwise, including without limitation warranties of
+    title, merchantability, fitness for a particular purpose, non
+    infringement, or the absence of latent or other defects, accuracy, or
+    the present or absence of errors, whether or not discoverable, all to
+    the greatest extent permissible under applicable law.
+ c. Affirmer disclaims responsibility for clearing rights of other persons
+    that may apply to the Work or any use thereof, including without
+    limitation any person's Copyright and Related Rights in the Work.
+    Further, Affirmer disclaims responsibility for obtaining any necessary
+    consents, permissions or other rights required for any use of the
+    Work.
+ d. Affirmer understands and acknowledges that Creative Commons is not a
+    party to this document and has no duty or obligation with respect to
+    this CC0 or use of the Work.
diff --git a/solid/py_scadparser/README.md b/solid/py_scadparser/README.md
new file mode 100644
index 00000000..29ec2812
--- /dev/null
+++ b/solid/py_scadparser/README.md
@@ -0,0 +1,6 @@
+# py_scadparser
+A basic openscad parser written in python using ply.
+
+This parser is intended to be used within solidpython to import openscad code. For this purpose we only need to extract the global definitions of a openscad file. That's exactly what this package does. It parses a openscad file and extracts top level definitions. This includes "use"d and "include"d filenames, global variables, function and module definitions.
+
+Even though this parser actually parses (almost?) the entire openscad language (at least the portions used in my test libraries) 90% is dismissed and only the needed definitions are processed and extracted.
diff --git a/solid/py_scadparser/parsetab.py b/solid/py_scadparser/parsetab.py
new file mode 100644
index 00000000..ba409cb3
--- /dev/null
+++ b/solid/py_scadparser/parsetab.py
@@ -0,0 +1,128 @@
+
+# parsetab.py
+# This file is automatically generated. Do not edit.
+# pylint: disable=W,C,R
+_tabversion = '3.10'
+
+_lr_method = 'LALR'
+
+_lr_signature = 'nonassocASSERTnonassocECHOnonassocTHENnonassocELSEnonassoc?nonassoc:nonassoc(){}nonassoc=leftANDORleftEQUALNOT_EQUALGREATER_OR_EQUALLESS_OR_EQUAL><left+-left%left*/right^rightNEGPOSBACKGROUNDNOTleftACCESSAND ASSERT EACH ECHO ELSE EQUAL FALSE FILENAME FOR FUNCTION GREATER_OR_EQUAL ID IF INCLUDE LESS_OR_EQUAL LET MODULE NOT_EQUAL NUMBER OR STRING TRUE USEstatements : statements statementstatements : emptyempty :statement : IF "(" expression ")" statement %prec THEN\n|   IF "(" expression ")" statement ELSE statement\n|   for_loop statement\n|   LET "(" assignment_list ")" statement %prec THEN\n|   ASSERT "(" opt_call_parameter_list ")" statement\n|   ECHO "(" opt_call_parameter_list ")" statement\n|   "{" statements "}"\n|   "%" statement %prec BACKGROUND\n|   "*" statement %prec BACKGROUND\n|   "!" statement %prec BACKGROUND\n|   "#" statement %prec BACKGROUND\n|   call statement\n|   USE FILENAME\n|   INCLUDE FILENAME\n|   ";"\nfor_loop : FOR "(" parameter_list ")"\n| FOR "(" parameter_list ";" expression ";" parameter_list ")"statement : functionstatement : modulestatement : ID "=" expression ";"logic_expr :  "-" expression %prec NEG\n|   "+" expression %prec POS\n|   "!" expression %prec NOT\n|   expression "?" expression ":" expression\n|   expression "%" expression\n|   expression "+" expression\n|   expression "-" expression\n|   expression "/" expression\n|   expression "*" expression\n|   expression "^" expression\n|   expression "<" expression\n|   expression ">" expression\n|   expression EQUAL expression\n|   expression NOT_EQUAL expression\n|   expression GREATER_OR_EQUAL expression\n|   expression LESS_OR_EQUAL expression\n|   expression AND expression\n|   expression OR expression\naccess_expr : ID %prec ACCESS\n|   expression "." ID %prec ACCESS\n|   expression "(" call_parameter_list ")" %prec ACCESS\n|   expression "(" ")" %prec ACCESS\n|   expression "[" expression "]" %prec ACCESS\nlist_stuff : FUNCTION "(" opt_parameter_list ")" expression\n|   LET "(" assignment_list ")" expression %prec THEN\n|   EACH expression %prec THEN\n|   "[" expression ":" expression "]"\n|   "[" expression ":" expression ":" expression "]"\n|   "[" for_loop expression "]"\n|   tuple\nassert_or_echo : ASSERT "(" opt_call_parameter_list ")"\n|   ECHO "(" opt_call_parameter_list ")"\nconstants : STRING\n|  TRUE\n|  FALSE\n|  NUMBERopt_else :\n| ELSE expression %prec THEN\nfor_or_if :  for_loop expression %prec THEN\n|   IF "(" expression ")" expression opt_else\nexpression : access_expr\n|   logic_expr\n|   list_stuff\n|   assert_or_echo\n|   assert_or_echo expression %prec ASSERT\n|   constants\n|   for_or_if\n|   "(" expression ")"\nassignment_list : ID "=" expression\n|   assignment_list "," ID "=" expression\ncall : ID "(" call_parameter_list ")"\n|  ID "(" ")"tuple : "[" opt_expression_list "]" commas : commas ","\n| ","\nopt_expression_list : expression_list\n|    expression_list commas\n|    emptyexpression_list : expression_list commas expression\n|     expression\nopt_call_parameter_list :\n| call_parameter_list\ncall_parameter_list : call_parameter_list commas call_parameter\n|    call_parametercall_parameter : expression\n|   ID "=" expressionopt_parameter_list : parameter_list\n|   parameter_list commas\n|   empty\nparameter_list :     parameter_list commas parameter\n|   parameterparameter : ID\n|  ID "=" expressionfunction : FUNCTION ID "(" opt_parameter_list ")" "=" expressionmodule : MODULE ID "(" opt_parameter_list ")" statement'
+    
+_lr_action_items = 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+
+_lr_action = {}
+for _k, _v in _lr_action_items.items():
+   for _x,_y in zip(_v[0],_v[1]):
+      if not _x in _lr_action:  _lr_action[_x] = {}
+      _lr_action[_x][_k] = _y
+del _lr_action_items
+
+_lr_goto_items = {'statements':([0,9,],[1,29,]),'empty':([0,9,52,82,83,114,],[2,2,110,136,136,136,]),'statement':([1,5,10,11,12,13,14,29,87,120,123,127,181,184,],[3,25,30,31,32,33,34,3,142,168,171,175,197,199,]),'for_loop':([1,5,10,11,12,13,14,24,27,28,29,37,38,43,48,52,53,54,55,58,59,84,86,87,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,107,118,119,120,122,123,124,126,127,131,133,160,163,181,182,184,186,190,191,194,196,201,209,],[5,5,5,5,5,5,5,59,59,59,5,59,59,59,59,107,59,59,59,59,59,59,59,5,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,59,5,59,5,59,59,5,59,59,59,59,5,59,5,59,59,59,59,59,59,59,]),'call':([1,5,10,11,12,13,14,29,87,120,123,127,181,184,],[14,14,14,14,14,14,14,14,14,14,14,14,14,14,]),'function':([1,5,10,11,12,13,14,29,87,120,123,127,181,184,],[18,18,18,18,18,18,18,18,18,18,18,18,18,18,]),'module':([1,5,10,11,12,13,14,29,87,120,123,127,181,184,],[19,19,19,19,19,19,19,19,19,19,19,19,19,19,]),'expression':([24,27,28,37,38,43,48,52,53,54,55,58,59,84,86,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,107,118,119,122,124,126,131,133,160,163,182,186,190,191,194,196,201,209,],[44,72,72,76,72,85,105,106,111,112,113,116,117,138,72,144,145,146,147,148,149,150,151,152,153,154,155,156,157,158,159,161,72,72,170,72,174,176,178,187,189,198,200,203,204,205,207,210,212,]),'access_expr':([24,27,28,37,38,43,48,52,53,54,55,58,59,84,86,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,107,118,119,122,124,126,131,133,160,163,182,186,190,191,194,196,201,209,],[45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,45,]),'logic_expr':([24,27,28,37,38,43,48,52,53,54,55,58,59,84,86,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,107,118,119,122,124,126,131,133,160,163,182,186,190,191,194,196,201,209,],[46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,46,]),'list_stuff':([24,27,28,37,38,43,48,52,53,54,55,58,59,84,86,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,107,118,119,122,124,126,131,133,160,163,182,186,190,191,194,196,201,209,],[47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,47,]),'assert_or_echo':([24,27,28,37,38,43,48,52,53,54,55,58,59,84,86,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,107,118,119,122,124,126,131,133,160,163,182,186,190,191,194,196,201,209,],[48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,48,]),'constants':([24,27,28,37,38,43,48,52,53,54,55,58,59,84,86,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,107,118,119,122,124,126,131,133,160,163,182,186,190,191,194,196,201,209,],[49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,49,]),'for_or_if':([24,27,28,37,38,43,48,52,53,54,55,58,59,84,86,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,107,118,119,122,124,126,131,133,160,163,182,186,190,191,194,196,201,209,],[50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,50,]),'tuple':([24,27,28,37,38,43,48,52,53,54,55,58,59,84,86,89,90,91,92,93,94,95,96,97,98,99,100,101,102,103,104,107,118,119,122,124,126,131,133,160,163,182,186,190,191,194,196,201,209,],[60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,60,]),'assignment_list':([26,115,],[67,165,]),'opt_call_parameter_list':([27,28,118,119,],[69,74,166,167,]),'call_parameter_list':([27,28,38,86,118,119,],[70,70,77,140,70,70,]),'call_parameter':([27,28,38,86,118,119,124,],[71,71,71,71,71,71,172,]),'parameter_list':([39,82,83,114,195,],[79,135,135,135,206,]),'parameter':([39,82,83,114,132,180,195,],[80,80,80,80,177,177,80,]),'opt_expression_list':([52,],[108,]),'expression_list':([52,],[109,]),'commas':([70,77,79,109,135,140,206,],[124,124,132,163,180,124,132,]),'opt_parameter_list':([82,83,114,],[134,137,164,]),'opt_else':([198,],[208,]),}
+
+_lr_goto = {}
+for _k, _v in _lr_goto_items.items():
+   for _x, _y in zip(_v[0], _v[1]):
+       if not _x in _lr_goto: _lr_goto[_x] = {}
+       _lr_goto[_x][_k] = _y
+del _lr_goto_items
+_lr_productions = [
+  ("S' -> statements","S'",1,None,None,None),
+  ('statements -> statements statement','statements',2,'p_statements','scad_parser.py',44),
+  ('statements -> empty','statements',1,'p_statements_empty','scad_parser.py',51),
+  ('empty -> <empty>','empty',0,'p_empty','scad_parser.py',56),
+  ('statement -> IF ( expression ) statement','statement',5,'p_statement','scad_parser.py',60),
+  ('statement -> IF ( expression ) statement ELSE statement','statement',7,'p_statement','scad_parser.py',61),
+  ('statement -> for_loop statement','statement',2,'p_statement','scad_parser.py',62),
+  ('statement -> LET ( assignment_list ) statement','statement',5,'p_statement','scad_parser.py',63),
+  ('statement -> ASSERT ( opt_call_parameter_list ) statement','statement',5,'p_statement','scad_parser.py',64),
+  ('statement -> ECHO ( opt_call_parameter_list ) statement','statement',5,'p_statement','scad_parser.py',65),
+  ('statement -> { statements }','statement',3,'p_statement','scad_parser.py',66),
+  ('statement -> % statement','statement',2,'p_statement','scad_parser.py',67),
+  ('statement -> * statement','statement',2,'p_statement','scad_parser.py',68),
+  ('statement -> ! statement','statement',2,'p_statement','scad_parser.py',69),
+  ('statement -> # statement','statement',2,'p_statement','scad_parser.py',70),
+  ('statement -> call statement','statement',2,'p_statement','scad_parser.py',71),
+  ('statement -> USE FILENAME','statement',2,'p_statement','scad_parser.py',72),
+  ('statement -> INCLUDE FILENAME','statement',2,'p_statement','scad_parser.py',73),
+  ('statement -> ;','statement',1,'p_statement','scad_parser.py',74),
+  ('for_loop -> FOR ( parameter_list )','for_loop',4,'p_for_loop','scad_parser.py',79),
+  ('for_loop -> FOR ( parameter_list ; expression ; parameter_list )','for_loop',8,'p_for_loop','scad_parser.py',80),
+  ('statement -> function','statement',1,'p_statement_function','scad_parser.py',84),
+  ('statement -> module','statement',1,'p_statement_module','scad_parser.py',89),
+  ('statement -> ID = expression ;','statement',4,'p_statement_assignment','scad_parser.py',94),
+  ('logic_expr -> - expression','logic_expr',2,'p_logic_expr','scad_parser.py',99),
+  ('logic_expr -> + expression','logic_expr',2,'p_logic_expr','scad_parser.py',100),
+  ('logic_expr -> ! expression','logic_expr',2,'p_logic_expr','scad_parser.py',101),
+  ('logic_expr -> expression ? expression : expression','logic_expr',5,'p_logic_expr','scad_parser.py',102),
+  ('logic_expr -> expression % expression','logic_expr',3,'p_logic_expr','scad_parser.py',103),
+  ('logic_expr -> expression + expression','logic_expr',3,'p_logic_expr','scad_parser.py',104),
+  ('logic_expr -> expression - expression','logic_expr',3,'p_logic_expr','scad_parser.py',105),
+  ('logic_expr -> expression / expression','logic_expr',3,'p_logic_expr','scad_parser.py',106),
+  ('logic_expr -> expression * expression','logic_expr',3,'p_logic_expr','scad_parser.py',107),
+  ('logic_expr -> expression ^ expression','logic_expr',3,'p_logic_expr','scad_parser.py',108),
+  ('logic_expr -> expression < expression','logic_expr',3,'p_logic_expr','scad_parser.py',109),
+  ('logic_expr -> expression > expression','logic_expr',3,'p_logic_expr','scad_parser.py',110),
+  ('logic_expr -> expression EQUAL expression','logic_expr',3,'p_logic_expr','scad_parser.py',111),
+  ('logic_expr -> expression NOT_EQUAL expression','logic_expr',3,'p_logic_expr','scad_parser.py',112),
+  ('logic_expr -> expression GREATER_OR_EQUAL expression','logic_expr',3,'p_logic_expr','scad_parser.py',113),
+  ('logic_expr -> expression LESS_OR_EQUAL expression','logic_expr',3,'p_logic_expr','scad_parser.py',114),
+  ('logic_expr -> expression AND expression','logic_expr',3,'p_logic_expr','scad_parser.py',115),
+  ('logic_expr -> expression OR expression','logic_expr',3,'p_logic_expr','scad_parser.py',116),
+  ('access_expr -> ID','access_expr',1,'p_access_expr','scad_parser.py',121),
+  ('access_expr -> expression . ID','access_expr',3,'p_access_expr','scad_parser.py',122),
+  ('access_expr -> expression ( call_parameter_list )','access_expr',4,'p_access_expr','scad_parser.py',123),
+  ('access_expr -> expression ( )','access_expr',3,'p_access_expr','scad_parser.py',124),
+  ('access_expr -> expression [ expression ]','access_expr',4,'p_access_expr','scad_parser.py',125),
+  ('list_stuff -> FUNCTION ( opt_parameter_list ) expression','list_stuff',5,'p_list_stuff','scad_parser.py',130),
+  ('list_stuff -> LET ( assignment_list ) expression','list_stuff',5,'p_list_stuff','scad_parser.py',131),
+  ('list_stuff -> EACH expression','list_stuff',2,'p_list_stuff','scad_parser.py',132),
+  ('list_stuff -> [ expression : expression ]','list_stuff',5,'p_list_stuff','scad_parser.py',133),
+  ('list_stuff -> [ expression : expression : expression ]','list_stuff',7,'p_list_stuff','scad_parser.py',134),
+  ('list_stuff -> [ for_loop expression ]','list_stuff',4,'p_list_stuff','scad_parser.py',135),
+  ('list_stuff -> tuple','list_stuff',1,'p_list_stuff','scad_parser.py',136),
+  ('assert_or_echo -> ASSERT ( opt_call_parameter_list )','assert_or_echo',4,'p_assert_or_echo','scad_parser.py',141),
+  ('assert_or_echo -> ECHO ( opt_call_parameter_list )','assert_or_echo',4,'p_assert_or_echo','scad_parser.py',142),
+  ('constants -> STRING','constants',1,'p_constants','scad_parser.py',147),
+  ('constants -> TRUE','constants',1,'p_constants','scad_parser.py',148),
+  ('constants -> FALSE','constants',1,'p_constants','scad_parser.py',149),
+  ('constants -> NUMBER','constants',1,'p_constants','scad_parser.py',150),
+  ('opt_else -> <empty>','opt_else',0,'p_opt_else','scad_parser.py',154),
+  ('opt_else -> ELSE expression','opt_else',2,'p_opt_else','scad_parser.py',155),
+  ('for_or_if -> for_loop expression','for_or_if',2,'p_for_or_if','scad_parser.py',161),
+  ('for_or_if -> IF ( expression ) expression opt_else','for_or_if',6,'p_for_or_if','scad_parser.py',162),
+  ('expression -> access_expr','expression',1,'p_expression','scad_parser.py',167),
+  ('expression -> logic_expr','expression',1,'p_expression','scad_parser.py',168),
+  ('expression -> list_stuff','expression',1,'p_expression','scad_parser.py',169),
+  ('expression -> assert_or_echo','expression',1,'p_expression','scad_parser.py',170),
+  ('expression -> assert_or_echo expression','expression',2,'p_expression','scad_parser.py',171),
+  ('expression -> constants','expression',1,'p_expression','scad_parser.py',172),
+  ('expression -> for_or_if','expression',1,'p_expression','scad_parser.py',173),
+  ('expression -> ( expression )','expression',3,'p_expression','scad_parser.py',174),
+  ('assignment_list -> ID = expression','assignment_list',3,'p_assignment_list','scad_parser.py',180),
+  ('assignment_list -> assignment_list , ID = expression','assignment_list',5,'p_assignment_list','scad_parser.py',181),
+  ('call -> ID ( call_parameter_list )','call',4,'p_call','scad_parser.py',186),
+  ('call -> ID ( )','call',3,'p_call','scad_parser.py',187),
+  ('tuple -> [ opt_expression_list ]','tuple',3,'p_tuple','scad_parser.py',191),
+  ('commas -> commas ,','commas',2,'p_commas','scad_parser.py',195),
+  ('commas -> ,','commas',1,'p_commas','scad_parser.py',196),
+  ('opt_expression_list -> expression_list','opt_expression_list',1,'p_opt_expression_list','scad_parser.py',201),
+  ('opt_expression_list -> expression_list commas','opt_expression_list',2,'p_opt_expression_list','scad_parser.py',202),
+  ('opt_expression_list -> empty','opt_expression_list',1,'p_opt_expression_list','scad_parser.py',203),
+  ('expression_list -> expression_list commas expression','expression_list',3,'p_expression_list','scad_parser.py',207),
+  ('expression_list -> expression','expression_list',1,'p_expression_list','scad_parser.py',208),
+  ('opt_call_parameter_list -> <empty>','opt_call_parameter_list',0,'p_opt_call_parameter_list','scad_parser.py',213),
+  ('opt_call_parameter_list -> call_parameter_list','opt_call_parameter_list',1,'p_opt_call_parameter_list','scad_parser.py',214),
+  ('call_parameter_list -> call_parameter_list commas call_parameter','call_parameter_list',3,'p_call_parameter_list','scad_parser.py',219),
+  ('call_parameter_list -> call_parameter','call_parameter_list',1,'p_call_parameter_list','scad_parser.py',220),
+  ('call_parameter -> expression','call_parameter',1,'p_call_parameter','scad_parser.py',224),
+  ('call_parameter -> ID = expression','call_parameter',3,'p_call_parameter','scad_parser.py',225),
+  ('opt_parameter_list -> parameter_list','opt_parameter_list',1,'p_opt_parameter_list','scad_parser.py',229),
+  ('opt_parameter_list -> parameter_list commas','opt_parameter_list',2,'p_opt_parameter_list','scad_parser.py',230),
+  ('opt_parameter_list -> empty','opt_parameter_list',1,'p_opt_parameter_list','scad_parser.py',231),
+  ('parameter_list -> parameter_list commas parameter','parameter_list',3,'p_parameter_list','scad_parser.py',240),
+  ('parameter_list -> parameter','parameter_list',1,'p_parameter_list','scad_parser.py',241),
+  ('parameter -> ID','parameter',1,'p_parameter','scad_parser.py',249),
+  ('parameter -> ID = expression','parameter',3,'p_parameter','scad_parser.py',250),
+  ('function -> FUNCTION ID ( opt_parameter_list ) = expression','function',7,'p_function','scad_parser.py',255),
+  ('module -> MODULE ID ( opt_parameter_list ) statement','module',6,'p_module','scad_parser.py',264),
+]
diff --git a/solid/py_scadparser/scad_ast.py b/solid/py_scadparser/scad_ast.py
new file mode 100644
index 00000000..9bfc1aa4
--- /dev/null
+++ b/solid/py_scadparser/scad_ast.py
@@ -0,0 +1,48 @@
+from enum import Enum
+
+class ScadTypes(Enum):
+    GLOBAL_VAR = 0
+    MODULE = 1
+    FUNCTION = 2
+    USE = 3
+    INCLUDE = 4
+    PARAMETER = 5
+
+class ScadObject:
+    def __init__(self, scadType):
+        self.scadType = scadType
+
+    def getType(self):
+        return self.scadType
+
+class ScadGlobalVar(ScadObject):
+    def __init__(self, name):
+        super().__init__(ScadTypes.GLOBAL_VAR)
+        self.name = name
+
+class ScadCallable(ScadObject):
+    def __init__(self, name, parameters, scadType):
+        super().__init__(scadType)
+        self.name = name
+        self.parameters = parameters
+
+    def __repr__(self):
+        return f'{self.name} ({self.parameters})'
+
+class ScadModule(ScadCallable):
+    def __init__(self, name, parameters):
+        super().__init__(name, parameters, ScadTypes.MODULE)
+
+class ScadFunction(ScadCallable):
+    def __init__(self, name, parameters):
+        super().__init__(name, parameters, ScadTypes.FUNCTION)
+
+class ScadParameter(ScadObject):
+    def __init__(self, name, optional=False):
+        super().__init__(ScadTypes.PARAMETER)
+        self.name = name
+        self.optional = optional
+
+    def __repr__(self):
+        return self.name + "=None" if self.optional else  self.name
+
diff --git a/solid/py_scadparser/scad_parser.py b/solid/py_scadparser/scad_parser.py
new file mode 100644
index 00000000..d878928c
--- /dev/null
+++ b/solid/py_scadparser/scad_parser.py
@@ -0,0 +1,339 @@
+from ply import lex, yacc
+
+# workaround relative imports.... make this module runable as script
+if __name__ == "__main__":
+    from scad_ast import (
+        ScadGlobalVar,
+        ScadFunction,
+        ScadModule,
+        ScadParameter,
+        ScadTypes,
+    )
+
+    # Note that the lexer depends on importing all elements in scad_tokens
+    from scad_tokens import *  # noqa: F403
+else:
+    from .scad_ast import (
+        ScadGlobalVar,
+        ScadFunction,
+        ScadModule,
+        ScadParameter,
+        ScadTypes,
+    )
+
+    # Note that the lexer depends on importing all elements in scad_tokens
+    from .scad_tokens import *  # noqa: F403
+
+precedence = (
+    ("nonassoc", "ASSERT"),
+    ("nonassoc", "ECHO"),
+    ("nonassoc", "THEN"),
+    ("nonassoc", "ELSE"),
+    ("nonassoc", "?"),
+    ("nonassoc", ":"),
+    ("nonassoc", "(", ")", "{", "}"),
+    ("nonassoc", "="),
+    ("left", "AND", "OR"),
+    ("left", "EQUAL", "NOT_EQUAL", "GREATER_OR_EQUAL", "LESS_OR_EQUAL", ">", "<"),
+    ("left", "+", "-"),
+    ("left", "%"),
+    ("left", "*", "/"),
+    ("right", "^"),
+    ("right", "NEG", "POS", "BACKGROUND", "NOT"),
+    ("left", "ACCESS"),
+)
+
+
+def p_statements(p):
+    """statements : statements statement"""
+    p[0] = p[1]
+    if p[2] is not None:
+        p[0].append(p[2])
+
+
+def p_statements_empty(p):
+    """statements : empty"""
+    p[0] = []
+
+
+def p_empty(p):
+    "empty :"
+
+
+def p_statement(p):
+    """statement : IF "(" expression ")" statement %prec THEN
+    |   IF "(" expression ")" statement ELSE statement
+    |   for_loop statement
+    |   LET "(" assignment_list ")" statement %prec THEN
+    |   ASSERT "(" opt_call_parameter_list ")" statement
+    |   ECHO "(" opt_call_parameter_list ")" statement
+    |   "{" statements "}"
+    |   "%" statement %prec BACKGROUND
+    |   "*" statement %prec BACKGROUND
+    |   "!" statement %prec BACKGROUND
+    |   "#" statement %prec BACKGROUND
+    |   call statement
+    |   USE FILENAME
+    |   INCLUDE FILENAME
+    |   ";"
+    """
+
+
+def p_for_loop(p):
+    '''for_loop : FOR "(" parameter_list ")"
+    | FOR "(" parameter_list ";" expression ";" parameter_list ")"'''
+
+
+def p_statement_function(p):
+    "statement : function"
+    p[0] = p[1]
+
+
+def p_statement_module(p):
+    "statement : module"
+    p[0] = p[1]
+
+
+def p_statement_assignment(p):
+    'statement : ID "=" expression ";"'
+    p[0] = ScadGlobalVar(p[1])
+
+
+def p_logic_expr(p):
+    """logic_expr :  "-" expression %prec NEG
+    |   "+" expression %prec POS
+    |   "!" expression %prec NOT
+    |   expression "?" expression ":" expression
+    |   expression "%" expression
+    |   expression "+" expression
+    |   expression "-" expression
+    |   expression "/" expression
+    |   expression "*" expression
+    |   expression "^" expression
+    |   expression "<" expression
+    |   expression ">" expression
+    |   expression EQUAL expression
+    |   expression NOT_EQUAL expression
+    |   expression GREATER_OR_EQUAL expression
+    |   expression LESS_OR_EQUAL expression
+    |   expression AND expression
+    |   expression OR expression
+    """
+
+
+def p_access_expr(p):
+    """access_expr : ID %prec ACCESS
+    |   expression "." ID %prec ACCESS
+    |   expression "(" call_parameter_list ")" %prec ACCESS
+    |   expression "(" ")" %prec ACCESS
+    |   expression "[" expression "]" %prec ACCESS
+    """
+
+
+def p_list_stuff(p):
+    """list_stuff : FUNCTION "(" opt_parameter_list ")" expression
+    |   LET "(" assignment_list ")" expression %prec THEN
+    |   EACH expression %prec THEN
+    |   "[" expression ":" expression "]"
+    |   "[" expression ":" expression ":" expression "]"
+    |   "[" for_loop expression "]"
+    |   tuple
+    """
+
+
+def p_assert_or_echo(p):
+    """assert_or_echo : ASSERT "(" opt_call_parameter_list ")"
+    |   ECHO "(" opt_call_parameter_list ")"
+    """
+
+
+def p_constants(p):
+    """constants : STRING
+    |  TRUE
+    |  FALSE
+    |  NUMBER"""
+
+
+def p_opt_else(p):
+    """opt_else :
+    | ELSE expression %prec THEN
+    """
+    # this causes some shift/reduce conflicts, but I don't know how to solve it
+
+
+def p_for_or_if(p):
+    """for_or_if :  for_loop expression %prec THEN
+    |   IF "(" expression ")" expression opt_else
+    """
+
+
+def p_expression(p):
+    """expression : access_expr
+    |   logic_expr
+    |   list_stuff
+    |   assert_or_echo
+    |   assert_or_echo expression %prec ASSERT
+    |   constants
+    |   for_or_if
+    |   "(" expression ")"
+    """
+    # the assert_or_echo stuff causes some shift/reduce conflicts, but I don't know how to solve it
+
+
+def p_assignment_list(p):
+    """assignment_list : ID "=" expression
+    |   assignment_list "," ID "=" expression
+    """
+
+
+def p_call(p):
+    '''call : ID "(" call_parameter_list ")"
+    |  ID "(" ")"'''
+
+
+def p_tuple(p):
+    """tuple : "[" opt_expression_list "]" """
+
+
+def p_commas(p):
+    """commas : commas ","
+    | ","
+    """
+
+
+def p_opt_expression_list(p):
+    """opt_expression_list : expression_list
+    |    expression_list commas
+    |    empty"""
+
+
+def p_expression_list(p):
+    """expression_list : expression_list commas expression
+    |     expression
+    """
+
+
+def p_opt_call_parameter_list(p):
+    """opt_call_parameter_list :
+    | call_parameter_list
+    """
+
+
+def p_call_parameter_list(p):
+    """call_parameter_list : call_parameter_list commas call_parameter
+    |    call_parameter"""
+
+
+def p_call_parameter(p):
+    """call_parameter : expression
+    |   ID "=" expression"""
+
+
+def p_opt_parameter_list(p):
+    """opt_parameter_list : parameter_list
+    |   parameter_list commas
+    |   empty
+    """
+    if p[1] is not None:
+        p[0] = p[1]
+    else:
+        p[0] = []
+
+
+def p_parameter_list(p):
+    """parameter_list :     parameter_list commas parameter
+    |   parameter"""
+    if len(p) > 2:
+        p[0] = p[1] + [p[3]]
+    else:
+        p[0] = [p[1]]
+
+
+def p_parameter(p):
+    """parameter : ID
+    |  ID "=" expression"""
+    p[0] = ScadParameter(p[1], len(p) == 4)
+
+
+def p_function(p):
+    """function : FUNCTION ID "(" opt_parameter_list ")" "=" expression"""
+    params = None
+    if p[4] != ")":
+        params = p[4]
+
+    p[0] = ScadFunction(p[2], params)
+
+
+def p_module(p):
+    """module : MODULE ID "(" opt_parameter_list ")" statement"""
+    params = None
+    if p[4] != ")":
+        params = p[4]
+
+    p[0] = ScadModule(p[2], params)
+
+
+def p_error(p):
+    print(
+        f"py_scadparser: Syntax error: {p.lexer.filename}({p.lineno}) {p.type} - {p.value}"
+    )
+
+
+def parseFile(scadFile):
+    lexer = lex.lex(debug=False)
+    lexer.filename = scadFile
+    parser = yacc.yacc(debug=False)
+
+    modules = []
+    functions = []
+    globalVars = []
+
+    appendObject = {
+        ScadTypes.MODULE: lambda x: modules.append(x),
+        ScadTypes.FUNCTION: lambda x: functions.append(x),
+        ScadTypes.GLOBAL_VAR: lambda x: globalVars.append(x),
+    }
+
+    from pathlib import Path
+
+    with Path(scadFile).open() as f:
+        for i in parser.parse(f.read(), lexer=lexer):
+            appendObject[i.getType()](i)
+
+    return modules, functions, globalVars
+
+
+def parseFileAndPrintGlobals(scadFile):
+    print(f"======{scadFile}======")
+    modules, functions, globalVars = parseFile(scadFile)
+
+    print("Modules:")
+    for m in modules:
+        print(f"    {m}")
+
+    print("Functions:")
+    for m in functions:
+        print(f"    {m}")
+
+    print("Global Variables:")
+    for m in globalVars:
+        print(f"    {m.name}")
+
+
+if __name__ == "__main__":
+    import sys
+
+    if len(sys.argv) < 2:
+        print(
+            f"usage: {sys.argv[0]} [-q] <scad-file> [<scad-file> ...]\n   -q : quiete"
+        )
+
+    quiete = sys.argv[1] == "-q"
+    files = sys.argv[2:] if quiete else sys.argv[1:]
+
+    for i in files:
+        if quiete:
+            print(i)
+            parseFile(i)
+        else:
+            parseFileAndPrintGlobals(i)
diff --git a/solid/py_scadparser/scad_tokens.py b/solid/py_scadparser/scad_tokens.py
new file mode 100644
index 00000000..182048f5
--- /dev/null
+++ b/solid/py_scadparser/scad_tokens.py
@@ -0,0 +1,109 @@
+literals = [
+            ".", ",", ";",
+            "=",
+            "!",
+            ">", "<",
+            "+", "-", "*", "/", "^",
+            "?", ":",
+            "[", "]", "{", "}", "(", ")",
+            "%", "#"
+]
+
+reserved = {
+                'use'    : 'USE',
+                'include': 'INCLUDE',
+                'module' : 'MODULE',
+                'function' : 'FUNCTION',
+                'if'     : 'IF',
+                'else'   : 'ELSE',
+                'let'    : 'LET',
+                'assert' : 'ASSERT',
+                'for'    : 'FOR',
+                'each'   : 'EACH',
+                'true'   : 'TRUE',
+                'false'  : 'FALSE',
+                'echo'   : 'ECHO',
+}
+
+tokens = [
+    "ID",
+    "NUMBER",
+    "STRING",
+    "EQUAL",
+    "GREATER_OR_EQUAL",
+    "LESS_OR_EQUAL",
+    "NOT_EQUAL",
+    "AND", "OR",
+    "FILENAME",
+    ] + list(reserved.values())
+
+#copy & paste from https://github.com/eliben/pycparser/blob/master/pycparser/c_lexer.py
+#LICENSE: BSD
+simple_escape = r"""([a-wyzA-Z._~!=&\^\-\\?'"]|x(?![0-9a-fA-F]))"""
+decimal_escape = r"""(\d+)(?!\d)"""
+hex_escape = r"""(x[0-9a-fA-F]+)(?![0-9a-fA-F])"""
+bad_escape = r"""([\\][^a-zA-Z._~^!=&\^\-\\?'"x0-9])"""
+escape_sequence = r"""(\\("""+simple_escape+'|'+decimal_escape+'|'+hex_escape+'))'
+escape_sequence_start_in_string = r"""(\\[0-9a-zA-Z._~!=&\^\-\\?'"])"""
+string_char = r"""([^"\\\n]|"""+escape_sequence_start_in_string+')'
+t_STRING = '"'+string_char+'*"' + " | " + "'" +string_char+ "*'"
+
+t_EQUAL = "=="
+t_GREATER_OR_EQUAL = ">="
+t_LESS_OR_EQUAL = "<="
+t_NOT_EQUAL = "!="
+t_AND = "\&\&"
+t_OR = "\|\|"
+
+t_FILENAME = r'<[a-zA-Z_0-9/\\\.-]*>'
+
+def t_eat_escaped_quotes(t):
+    r"\\\""
+    pass
+
+def t_comments1(t):
+    r'(/\*(.|\n)*?\*/)'
+    t.lexer.lineno += t.value.count("\n")
+    pass
+
+def t_comments2(t):
+    r'//.*[\n\']?'
+    t.lexer.lineno += 1
+    pass
+
+def t_whitespace(t):
+    r'\s'
+    t.lexer.lineno += t.value.count("\n")
+
+def t_ID(t):
+    r'[\$]?[0-9]*[a-zA-Z_][a-zA-Z_0-9]*'
+    t.type = reserved.get(t.value,'ID')
+    return t
+
+def t_NUMBER(t):
+    r'[0-9]*\.?\d+([eE][-\+]\d+)?'
+    t.value = float(t.value)
+    return t
+
+def t_error(t):
+    print(f'py_scadparser: Illegal character: {t.lexer.filename}({t.lexer.lineno}) "{t.value[0]}"')
+    t.lexer.skip(1)
+
+if __name__ == "__main__":
+    import sys
+    from ply import lex
+    from pathlib import Path
+
+    if len(sys.argv) < 2:
+        print(f"usage: {sys.argv[0]} <scad-file>")
+
+    p = Path(sys.argv[1])
+    f = p.open()
+    lexer = lex.lex()
+    lexer.filename = p.as_posix()
+    lexer.input(''.join(f.readlines()))
+    for tok in iter(lexer.token, None):
+        if tok.type == "MODULE":
+            print("")
+        print(repr(tok.type), repr(tok.value), end='')
+
diff --git a/solid/screw_thread.py b/solid/screw_thread.py
index e2bb9df7..d3445a8b 100755
--- a/solid/screw_thread.py
+++ b/solid/screw_thread.py
@@ -5,13 +5,15 @@
 from euclid3 import Point3, Vector3
 
 from solid import scad_render_to_file
-from solid.objects import cylinder, polyhedron, render
-from solid.utils import EPSILON, UP_VEC, bounding_box, radians
+from solid.objects import cylinder, polyhedron
+from solid.utils import EPSILON, UP_VEC, bounding_box
+from math import radians
 
 # NOTE: The PyEuclid on PyPi doesn't include several elements added to
 # the module as of 13 Feb 2013.  Add them here until euclid supports them
 # TODO: when euclid updates, remove this cruft. -ETJ 13 Feb 2013
 from solid import run_euclid_patch
+
 run_euclid_patch()
 
 P2 = Tuple[float, float]
@@ -19,21 +21,28 @@
 P23 = Union[P2, P3]
 Points = Sequence[P23]
 
-def map_segment(x: float, domain_min:float, domain_max: float, range_min:float, range_max:float) -> float: 
+
+def map_segment(
+    x: float, domain_min: float, domain_max: float, range_min: float, range_max: float
+) -> float:
     if domain_min == domain_max or range_min == range_max:
         return range_min
-    proportion = (x - domain_min)/(domain_max - domain_min) 
-    return (1-proportion) * range_min + proportion * range_max
-
-def thread(outline_pts: Points,
-           inner_rad: float,
-           pitch: float,
-           length: float,
-           external: bool = True,
-           segments_per_rot: int = 32,
-           neck_in_degrees: float = 0,
-           neck_out_degrees: float = 0,
-           rad_2: float=None):
+    proportion = (x - domain_min) / (domain_max - domain_min)
+    return (1 - proportion) * range_min + proportion * range_max
+
+
+def thread(
+    outline_pts: Points,
+    inner_rad: float,
+    pitch: float,
+    length: float,
+    external: bool = True,
+    segments_per_rot: int = 32,
+    neck_in_degrees: float = 0,
+    neck_out_degrees: float = 0,
+    rad_2: float = None,
+    inverse_thread_direction: bool = False,
+):
     """
     Sweeps outline_pts (an array of points describing a closed polygon in XY)
     through a spiral.
@@ -63,7 +72,7 @@ def thread(outline_pts: Points,
     :type neck_out_degrees: number
 
     :param rad_2: radius of cylinder the screw will wrap around at top of screw. Defaults to inner_rad
-    :type rad_2: number    
+    :type rad_2: number
 
     NOTE: This functions works by creating and returning one huge polyhedron, with
     potentially thousands of faces.  An alternate approach would make one single
@@ -80,6 +89,13 @@ def thread(outline_pts: Points,
     threads, (i.e., pitch=tooth_height), I use pitch= tooth_height+EPSILON,
     since pitch=tooth_height will self-intersect for rotations >=1
     """
+    # FIXME: For small segments_per_rot where length is not a multiple of
+    # pitch, the the generated spiral will have irregularities, since we
+    # don't ensure that each level's segments are in line with those above or
+    # below. This would require a change in logic to fix. For now, larger values
+    # of segments_per_rot and length that divides pitch evenly should avoid this issue
+    # -ETJ 02 January 2020
+
     rad_2 = rad_2 or inner_rad
     rotations = length / pitch
 
@@ -96,13 +112,19 @@ def thread(outline_pts: Points,
 
     # Make Point3s from outline_pts and flip inward for internal threads
     int_ext_angle = 0 if external else math.pi
-    outline_pts = [Point3(p[0], p[1], 0).rotate_around(axis=euc_up, theta=int_ext_angle) for p in outline_pts]
+    outline_pts = [
+        Point3(p[0], p[1], 0).rotate_around(axis=euc_up, theta=int_ext_angle)
+        for p in outline_pts
+    ]
 
-    # If this screw is conical, we'll need to rotate tooth profile to 
-    # keep it perpendicular to the side of the cone. 
+    # If this screw is conical, we'll need to rotate tooth profile to
+    # keep it perpendicular to the side of the cone.
     if inner_rad != rad_2:
-        cone_angle = -math.atan((rad_2 - inner_rad)/length) 
-        outline_pts = [p.rotate_around(axis=Vector3(*UP_VEC), theta=cone_angle)  for p in outline_pts]
+        cone_angle = -math.atan((rad_2 - inner_rad) / length)
+        outline_pts = [
+            p.rotate_around(axis=Vector3(*UP_VEC), theta=cone_angle)
+            for p in outline_pts
+        ]
 
     # outline_pts, since they were created in 2D , are in the XY plane.
     # But spirals move a profile in XZ around the Z-axis.  So swap Y and Z
@@ -112,20 +134,20 @@ def thread(outline_pts: Points,
     # Figure out how wide the tooth profile is
     min_bb, max_bb = bounding_box(outline_pts)
     outline_w = max_bb[0] - min_bb[0]
-    outline_h = max_bb[1] - min_bb[1]
+    # outline_h = max_bb[1] - min_bb[1]
 
     # Calculate where neck-in and neck-out starts/ends
     neck_out_start = total_angle - neck_out_degrees
     neck_distance = (outline_w + EPSILON) * (1 if external else -1)
     section_rads = [
-        # radius at start of thread 
+        # radius at start of thread
         max(0, inner_rad - neck_distance),
         # end of neck-in
-        map_segment(neck_in_degrees, 0, total_angle, inner_rad, rad_2),       
+        map_segment(neck_in_degrees, 0, total_angle, inner_rad, rad_2),
         # start of neck-out
         map_segment(neck_out_start, 0, total_angle, inner_rad, rad_2),
         # end of thread (& neck-out)
-        rad_2 - neck_distance
+        rad_2 - neck_distance,
     ]
 
     for i in range(total_steps):
@@ -138,17 +160,24 @@ def thread(outline_pts: Points,
 
         # Handle the neck-in radius for internal and external threads
         if 0 <= angle < neck_in_degrees:
-            rad = map_segment(angle, 0, neck_in_degrees, section_rads[0], section_rads[1])
+            rad = map_segment(
+                angle, 0, neck_in_degrees, section_rads[0], section_rads[1]
+            )
         elif neck_in_degrees <= angle < neck_out_start:
-            rad = map_segment( angle, neck_in_degrees, neck_out_start, section_rads[1], section_rads[2])
+            rad = map_segment(
+                angle, neck_in_degrees, neck_out_start, section_rads[1], section_rads[2]
+            )
         elif neck_out_start <= angle <= total_angle:
-            rad = map_segment( angle, neck_out_start, total_angle, section_rads[2], section_rads[3])
+            rad = map_segment(
+                angle, neck_out_start, total_angle, section_rads[2], section_rads[3]
+            )
 
         elev_vec = Vector3(rad, 0, elevation)
 
         # create new points
         for p in euc_points:
-            pt = (p + elev_vec).rotate_around(axis=euc_up, theta=radians(angle))
+            theta = radians(angle) * (-1 if inverse_thread_direction else 1)
+            pt = (p + elev_vec).rotate_around(axis=euc_up, theta=theta)
             all_points.append(pt.as_arr())
 
         # Add the connectivity information
@@ -157,7 +186,9 @@ def thread(outline_pts: Points,
             for j in range(ind, ind + poly_sides - 1):
                 all_tris.append([j, j + 1, j + poly_sides])
                 all_tris.append([j + 1, j + poly_sides + 1, j + poly_sides])
-            all_tris.append([ind, ind + poly_sides - 1 + poly_sides, ind + poly_sides - 1])
+            all_tris.append(
+                [ind, ind + poly_sides - 1 + poly_sides, ind + poly_sides - 1]
+            )
             all_tris.append([ind, ind + poly_sides, ind + poly_sides - 1 + poly_sides])
 
     # End triangle fans for beginning and end
@@ -166,48 +197,57 @@ def thread(outline_pts: Points,
         all_tris.append([0, i + 2, i + 1])
         all_tris.append([last_loop, last_loop + i + 1, last_loop + i + 2])
 
-    # Make the polyhedron
-    a = polyhedron(points=all_points, faces=all_tris)
+    # Moving in the opposite direction, we need to reverse the order of
+    # corners in each face so the OpenSCAD preview renders correctly
+    if inverse_thread_direction:
+        all_tris = list([reversed(trio) for trio in all_tris])
+
+    # Make the polyhedron; convexity info needed for correct OpenSCAD render
+    a = polyhedron(points=all_points, faces=all_tris, convexity=2)
 
     if external:
         # Intersect with a cylindrical tube to make sure we fit into
         # the correct dimensions
-        tube = cylinder(r1=inner_rad + outline_w + EPSILON, r2=rad_2 + outline_w + EPSILON, h=length, segments=segments_per_rot)
+        tube = cylinder(
+            r1=inner_rad + outline_w + EPSILON,
+            r2=rad_2 + outline_w + EPSILON,
+            h=length,
+            segments=segments_per_rot,
+        )
         tube -= cylinder(r1=inner_rad, r2=rad_2, h=length, segments=segments_per_rot)
     else:
         # If the threading is internal, intersect with a central cylinder
         # to make sure nothing else remains
         tube = cylinder(r1=inner_rad, r2=rad_2, h=length, segments=segments_per_rot)
-    # FIXME: For reasons I haven't yet sussed out, the cylinder `tube` doesn't 
-    # line up perfectly with the polyhedron `a`, which creates tiny extra facets
-    # at joints. These aren't large enough to mess up 3D prints, but they
-    # do make the shape messier than it needs to be. -ETJ 30 December 2019
     a *= tube
+
     return a
 
+
 def default_thread_section(tooth_height: float, tooth_depth: float):
     """
     An isosceles triangle, tooth_height vertically, tooth_depth wide:
     """
-    res = [[0, -tooth_height / 2],
-           [tooth_depth, 0],
-           [0, tooth_height / 2]
-           ]
+    res = [[0, -tooth_height / 2], [tooth_depth, 0], [0, tooth_height / 2]]
     return res
 
-def assembly():
-    pts = [(0, -1, 0),
-           (1, 0, 0),
-           (0, 1, 0),
-           (-1, 0, 0),
-           (-1, -1, 0)]
 
-    a = thread(pts, inner_rad=10, pitch=6, length=2, segments_per_rot=31,
-               neck_in_degrees=30, neck_out_degrees=30)
+def assembly():
+    pts = [(0, -1, 0), (1, 0, 0), (0, 1, 0), (-1, 0, 0), (-1, -1, 0)]
+
+    a = thread(
+        pts,
+        inner_rad=10,
+        pitch=6,
+        length=2,
+        segments_per_rot=31,
+        neck_in_degrees=30,
+        neck_out_degrees=30,
+    )
 
     return a + cylinder(10 + EPSILON, 2)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     a = assembly()
     scad_render_to_file(a)
diff --git a/solid/solidpython.py b/solid/solidpython.py
index 900d075e..2e2f7245 100755
--- a/solid/solidpython.py
+++ b/solid/solidpython.py
@@ -21,16 +21,18 @@
 from typing import Set, Sequence, List, Callable, Optional, Union, Iterable
 
 from types import ModuleType
-from typing import Callable, Iterable, List, Optional, Sequence, Set, Union
 
-import pkg_resources
-import regex as re
+
+from importlib import metadata
+from importlib.metadata import PackageNotFoundError
+
+import re
 
 PathStr = Union[Path, str]
-AnimFunc = Callable[[Optional[float]], 'OpenSCADObject']
+AnimFunc = Callable[[Optional[float]], "OpenSCADObject"]
 # These are features added to SolidPython but NOT in OpenSCAD.
 # Mark them for special treatment
-non_rendered_classes = ['hole', 'part']
+non_rendered_classes = ["hole", "part"]
 
 # Words reserved in Python but not OpenSCAD
 # Re: https://github.com/SolidCode/SolidPython/issues/99
@@ -42,7 +44,6 @@
 # = Internal Utilities    =
 # =========================
 class OpenSCADObject:
-
     def __init__(self, name: str, params: dict):
         self.name = name
         self.params = params
@@ -52,6 +53,13 @@ def __init__(self, name: str, params: dict):
         self.is_hole = False
         self.has_hole_children = False
         self.is_part_root = False
+        self.traits: dict[str, dict[str, float]] = {}
+
+    def add_trait(self, trait_name: str, trait_data: dict[str, float]):
+        self.traits[trait_name] = trait_data
+
+    def get_trait(self, trait_name: str) -> Optional[dict[str, float]]:
+        return self.traits.get(trait_name)
 
     def set_hole(self, is_hole: bool = True) -> "OpenSCADObject":
         self.is_hole = is_hole
@@ -61,7 +69,9 @@ def set_part_root(self, is_root: bool = True) -> "OpenSCADObject":
         self.is_part_root = is_root
         return self
 
-    def find_hole_children(self, path: List["OpenSCADObject"] = None) -> List["OpenSCADObject"]:
+    def find_hole_children(
+        self, path: List["OpenSCADObject"] = None
+    ) -> List["OpenSCADObject"]:
         """
         Because we don't force a copy every time we re-use a node
         (e.g a = cylinder(2, 6);  b = right(10) (a)
@@ -94,22 +104,24 @@ def set_modifier(self, m: str) -> "OpenSCADObject":
         Used to add one of the 4 single-character modifiers:
         #(debug) !(root) %(background) or *(disable)
         """
-        string_vals = {'disable': '*',
-                       'debug': '#',
-                       'background': '%',
-                       'root': '!',
-                       '*': '*',
-                       '#': '#',
-                       '%': '%',
-                       '!': '!'}
-
-        self.modifier = string_vals.get(m.lower(), '')
+        string_vals = {
+            "disable": "*",
+            "debug": "#",
+            "background": "%",
+            "root": "!",
+            "*": "*",
+            "#": "#",
+            "%": "%",
+            "!": "!",
+        }
+
+        self.modifier = string_vals.get(m.lower(), "")
         return self
 
     def _render(self, render_holes: bool = False) -> str:
         """
         NOTE: In general, you won't want to call this method. For most purposes,
-        you really want scad_render(), 
+        you really want scad_render(),
         Calling obj._render won't include necessary 'use' or 'include' statements
         """
         # First, render all children
@@ -159,17 +171,17 @@ def _render_str_no_children(self) -> str:
 
         # OpenSCAD doesn't have a 'segments' argument, but it does
         # have '$fn'.  Swap one for the other
-        if 'segments' in self.params:
-            self.params['$fn'] = self.params.pop('segments')
+        if "segments" in self.params:
+            self.params["$fn"] = self.params.pop("segments")
 
         valid_keys = self.params.keys()
 
         # intkeys are the positional parameters
-        intkeys = list(filter(lambda x: type(x) == int, valid_keys))
+        intkeys = list(filter(lambda x: type(x) is int, valid_keys))
         intkeys.sort()
 
         # named parameters
-        nonintkeys = list(filter(lambda x: not type(x) == int, valid_keys))
+        nonintkeys = list(filter(lambda x: type(x) is not int, valid_keys))
         all_params_sorted = intkeys + nonintkeys
         if all_params_sorted:
             all_params_sorted = sorted(all_params_sorted)
@@ -183,7 +195,7 @@ def _render_str_no_children(self) -> str:
                 s += ", "
             first = False
 
-            if type(k) == int:
+            if type(k) is int:
                 s += py2openscad(v)
             else:
                 s += k + " = " + py2openscad(v)
@@ -223,16 +235,18 @@ def _render_hole_children(self) -> str:
         # with union in the hole segment of the compiled tree.
         # And if you figure out a better way to explain this,
         # please, please do... because I think this works, but I
-        # also think my rationale is shaky and imprecise. 
+        # also think my rationale is shaky and imprecise.
         # -ETJ 19 Feb 2013
         s = s.replace("intersection", "union")
         s = s.replace("difference", "union")
 
         return s
 
-    def add(self, child: Union["OpenSCADObject", Sequence["OpenSCADObject"]]) -> "OpenSCADObject":
+    def add(
+        self, child: Union["OpenSCADObject", Sequence["OpenSCADObject"]]
+    ) -> "OpenSCADObject":
         """
-        if child is a single object, assume it's an OpenSCADObjects and 
+        if child is a single object, assume it's an OpenSCADObjects and
         add it to self.children
 
         if child is a list, assume its members are all OpenSCADObjects and
@@ -257,8 +271,8 @@ def set_parent(self, parent: "OpenSCADObject"):
         self.parent = parent
 
     def add_param(self, k: str, v: float) -> "OpenSCADObject":
-        if k == '$fn':
-            k = 'segments'
+        if k == "$fn":
+            k = "segments"
         self.params[k] = v
         return self
 
@@ -274,8 +288,8 @@ def copy(self) -> "OpenSCADObject":
         # Python can't handle an '$fn' argument, while openSCAD only wants
         # '$fn'.  Swap back and forth as needed; the final renderer will
         # sort this out.
-        if '$fn' in self.params:
-            self.params['segments'] = self.params.pop('$fn')
+        if "$fn" in self.params:
+            self.params["segments"] = self.params.pop("$fn")
 
         other = type(self)(**self.params)
         other.set_modifier(self.modifier)
@@ -338,12 +352,9 @@ def _repr_png_(self) -> Optional[bytes]:
             tmp.write(scad_text)
             tmp.close()
             tmp_png.close()
-            subprocess.Popen([
-                "openscad",
-                "--preview",
-                "-o", tmp_png.name,
-                tmp.name
-            ]).communicate()
+            subprocess.Popen(
+                ["openscad", "--preview", "-o", tmp_png.name, tmp.name]
+            ).communicate()
 
             with open(tmp_png.name, "rb") as png:
                 png_data = png.read()
@@ -361,11 +372,13 @@ class IncludedOpenSCADObject(OpenSCADObject):
     to the scad file it's included from.
     """
 
-    def __init__(self, name, params, include_file_path, use_not_include=False, **kwargs):
+    def __init__(
+        self, name, params, include_file_path, use_not_include=False, **kwargs
+    ):
         self.include_file_path = self._get_include_path(include_file_path)
 
-        use_str = 'use' if use_not_include else 'include'
-        self.include_string = f'{use_str} <{self.include_file_path}>\n'
+        use_str = "use" if use_not_include else "include"
+        self.include_string = f"{use_str} <{self.include_file_path}>\n"
 
         # Just pass any extra arguments straight on to OpenSCAD; it'll accept
         # them
@@ -386,22 +399,31 @@ def _get_include_path(self, include_file_path):
                     return os.path.abspath(whole_path)
 
         # No loadable SCAD file was found in sys.path.  Raise an error
-        raise ValueError(f"Unable to find included SCAD file: {include_file_path} in sys.path")
+        raise ValueError(
+            f"Unable to find included SCAD file: {include_file_path} in sys.path"
+        )
 
 
 # =========================================
 # = Rendering Python code to OpenSCAD code=
 # =========================================
-def _find_include_strings(obj: Union[IncludedOpenSCADObject, OpenSCADObject]) -> Set[str]:
+def _find_include_strings(
+    obj: Union[IncludedOpenSCADObject, OpenSCADObject],
+) -> Set[str]:
     include_strings = set()
     if isinstance(obj, IncludedOpenSCADObject):
         include_strings.add(obj.include_string)
     for child in obj.children:
         include_strings.update(_find_include_strings(child))
+    # We also accept IncludedOpenSCADObject instances as parameters to functions,
+    # so search in obj.params as well
+    for param in obj.params.values():
+        if isinstance(param, OpenSCADObject):
+            include_strings.update(_find_include_strings(param))
     return include_strings
 
 
-def scad_render(scad_object: OpenSCADObject, file_header: str = '') -> str:
+def scad_render(scad_object: OpenSCADObject, file_header: str = "") -> str:
     # Make this object the root of the tree
     root = scad_object
 
@@ -410,19 +432,21 @@ def scad_render(scad_object: OpenSCADObject, file_header: str = '') -> str:
     include_strings = _find_include_strings(root)
 
     # and render the string
-    includes = ''.join(include_strings) + "\n"
+    includes = "".join(include_strings) + "\n"
     scad_body = root._render()
 
-    if file_header and not file_header.endswith('\n'): 
-        file_header += '\n'
+    if file_header and not file_header.endswith("\n"):
+        file_header += "\n"
 
     return file_header + includes + scad_body
 
 
-def scad_render_animated(func_to_animate: AnimFunc, 
-                         steps: int =20, 
-                         back_and_forth: bool=True, 
-                         file_header: str='') -> str:
+def scad_render_animated(
+    func_to_animate: AnimFunc,
+    steps: int = 20,
+    back_and_forth: bool = True,
+    file_header: str = "",
+) -> str:
     # func_to_animate takes a single float argument, _time in [0, 1), and
     # returns an OpenSCADObject instance.
     #
@@ -455,7 +479,7 @@ def scad_render_animated(func_to_animate: AnimFunc,
     scad_obj = func_to_animate(_time=0)  # type: ignore
     include_strings = _find_include_strings(scad_obj)
     # and render the string
-    includes = ''.join(include_strings) + "\n"
+    includes = "".join(include_strings) + "\n"
 
     rendered_string = file_header + includes
 
@@ -476,51 +500,60 @@ def scad_render_animated(func_to_animate: AnimFunc,
         scad_obj = func_to_animate(_time=eval_time)  # type: ignore
 
         scad_str = indent(scad_obj._render())
-        rendered_string += f"if ($t >= {time} && $t < {end_time}){{" \
-                           f"   {scad_str}\n" \
-                           f"}}\n"
+        rendered_string += f"if ($t >= {time} && $t < {end_time}){{   {scad_str}\n}}\n"
     return rendered_string
 
 
-def scad_render_animated_file(func_to_animate:AnimFunc, 
-                              steps: int=20, 
-                              back_and_forth: bool=True, 
-                              filepath: Optional[str]=None, 
-                              out_dir: PathStr=None, 
-                              file_header: str='', 
-                              include_orig_code: bool=True) -> str:
-    rendered_string = scad_render_animated(func_to_animate, steps, 
-                                            back_and_forth, file_header)
-    return _write_code_to_file(rendered_string, filepath, out_dir=out_dir, 
-                include_orig_code=include_orig_code)
-
-def scad_render_to_file(scad_object: OpenSCADObject,
-                        filepath: PathStr=None, 
-                        out_dir: PathStr=None,
-                        file_header: str='', 
-                        include_orig_code: bool=True) -> str:
-    header = "// Generated by SolidPython {version} on {date}\n".format(
-            version=_get_version(),
-            date=datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S"))
-    header += file_header
+def scad_render_animated_file(
+    func_to_animate: AnimFunc,
+    steps: int = 20,
+    back_and_forth: bool = True,
+    filepath: Optional[str] = None,
+    out_dir: PathStr = None,
+    file_header: str = "",
+    include_orig_code: bool = True,
+) -> str:
+    rendered_string = scad_render_animated(
+        func_to_animate, steps, back_and_forth, file_header
+    )
+    return _write_code_to_file(
+        rendered_string, filepath, out_dir=out_dir, include_orig_code=include_orig_code
+    )
+
+
+def scad_render_to_file(
+    scad_object: OpenSCADObject,
+    filepath: PathStr = None,
+    out_dir: PathStr = None,
+    file_header: str = "",
+    include_orig_code: bool = True,
+) -> str:
+    header = file_header
+    if include_orig_code:
+        version = _get_version()
+        date = datetime.datetime.now().strftime("%Y-%m-%d %H:%M:%S")
+        header = f"// Generated by SolidPython {version} on {date}\n" + file_header
 
     rendered_string = scad_render(scad_object, header)
     return _write_code_to_file(rendered_string, filepath, out_dir, include_orig_code)
 
-def _write_code_to_file(rendered_string: str, 
-                        filepath: PathStr=None, 
-                        out_dir: PathStr=None, 
-                        include_orig_code: bool=True) -> str:
+
+def _write_code_to_file(
+    rendered_string: str,
+    filepath: PathStr = None,
+    out_dir: PathStr = None,
+    include_orig_code: bool = True,
+) -> str:
     try:
         calling_file = Path(calling_module(stack_depth=3).__file__).absolute()
         # Output path is determined four ways:
         # -- If filepath is supplied, use filepath
-        # -- If no filepath is supplied but an out_dir is supplied, 
+        # -- If no filepath is supplied but an out_dir is supplied,
         #       give the calling file a .scad suffix and put it in out_dir
         # -- If neither filepath nor out_dir are supplied, give the new
         #       file a .scad suffix and put it next to the calling file
-        # -- If no path info is supplied and we can't find a calling file 
-        #       (i.e, this is being called from an interactive terminal), 
+        # -- If no path info is supplied and we can't find a calling file
+        #       (i.e, this is being called from an interactive terminal),
         #       write a file to Path.cwd() / 'solid.scad'
         out_path = Path()
         if filepath:
@@ -529,13 +562,13 @@ def _write_code_to_file(rendered_string: str,
             odp = Path(out_dir)
             if not odp.exists():
                 odp.mkdir()
-            out_path = odp / calling_file.with_suffix('.scad').name
+            out_path = odp / calling_file.with_suffix(".scad").name
         else:
-            out_path = calling_file.with_suffix('.scad')
-        
+            out_path = calling_file.with_suffix(".scad")
+
         if include_orig_code:
             rendered_string += sp_code_in_scad_comment(calling_file)
-    except AttributeError as e:
+    except AttributeError:
         # If no calling_file was found, this is being called from the terminal.
         # We can't read original code from a file, so don't try,
         # and can't read filename from the calling file either, so just save to
@@ -547,33 +580,27 @@ def _write_code_to_file(rendered_string: str,
             odp = Path(out_dir) if out_dir else Path.cwd()
             if not odp.exists():
                 odp.mkdir()
-            out_path = odp / 'solid.scad'
+            out_path = odp / "solid.scad"
 
     out_path.write_text(rendered_string)
     return out_path.absolute().as_posix()
 
 
-def _get_version():
+def _get_version() -> str:
     """
     Returns SolidPython version
-    Raises a RuntimeError if the version cannot be determined
+    Returns '<Unknown>' if no version can be found
     """
-
     try:
-        # if SolidPython is installed use `pkg_resources`
-        return pkg_resources.get_distribution('solidpython').version
-
-    except pkg_resources.DistributionNotFound:
-        # if the running SolidPython is not the one installed via pip,
-        # try to read it from the project setup file
+        return metadata.version("solidpython")
+    except PackageNotFoundError:
         version_pattern = re.compile(r"version = ['\"]([^'\"]*)['\"]")
-        version_file_path = Path(__file__).parent.parent / 'pyproject.toml'
-
-        version_match = version_pattern.search(version_file_path.read_text())
-        if version_match:
-            return version_match.group(1)
-
-    raise RuntimeError("Unable to determine software version.")
+        version_file_path = Path(__file__).parent.parent / "pyproject.toml"
+        if version_file_path.exists():
+            version_match = version_pattern.search(version_file_path.read_text())
+            if version_match:
+                return version_match.group(1)
+    return "<Unknown>"
 
 
 def sp_code_in_scad_comment(calling_file: PathStr) -> str:
@@ -590,69 +617,43 @@ def sp_code_in_scad_comment(calling_file: PathStr) -> str:
     # to create a given file; That would future-proof any given SP-created
     # code because it would point to the relevant dependencies as well as
     # the actual code
-    pyopenscad_str = (f"\n"
-                      f"/***********************************************\n"
-                      f"*********      SolidPython code:      **********\n"
-                      f"************************************************\n"
-                      f" \n"
-                      f"{pyopenscad_str} \n"
-                      f" \n"
-                      f"************************************************/\n")
+    pyopenscad_str = (
+        f"\n"
+        f"/***********************************************\n"
+        f"*********      SolidPython code:      **********\n"
+        f"************************************************\n"
+        f" \n"
+        f"{pyopenscad_str} \n"
+        f" \n"
+        f"************************************************/\n"
+    )
     return pyopenscad_str
 
 
 # ===========
 # = Parsing =
 # ===========
-def extract_callable_signatures(scad_file_path: PathStr) -> List[dict]:
-    scad_code_str = Path(scad_file_path).read_text()
-    return parse_scad_callables(scad_code_str)
+def parse_scad_callables(filename: str) -> List[dict]:
+    from .py_scadparser import scad_parser
 
+    modules, functions, _ = scad_parser.parseFile(filename)
 
-def parse_scad_callables(scad_code_str: str) -> List[dict]:
     callables = []
-
-    # Note that this isn't comprehensive; tuples or nested data structures in
-    # a module definition will defeat it.
-
-    # Current implementation would throw an error if you tried to call a(x, y)
-    # since Python would expect a(x);  OpenSCAD itself ignores extra arguments,
-    # but that's not really preferable behavior
-
-    # TODO:  write a pyparsing grammar for OpenSCAD, or, even better, use the yacc parse grammar
-    # used by the language itself.  -ETJ 06 Feb 2011
-
-    # FIXME: OpenSCAD use/import includes top level variables. We should parse 
-    # those out (e.g. x = someValue;) as well -ETJ 21 May 2019
-    no_comments_re = r'(?mxs)(//.*?\n|/\*.*?\*/)'
-
-    # Also note: this accepts: 'module x(arg) =' and 'function y(arg) {', both
-    # of which are incorrect syntax
-    mod_re = r'(?mxs)^\s*(?:module|function)\s+(?P<callable_name>\w+)\s*\((?P<all_args>.*?)\)\s*(?:{|=)'
-
-    # See https://github.com/SolidCode/SolidPython/issues/95; Thanks to https://github.com/Torlos
-    args_re = r'(?mxs)(?P<arg_name>\w+)(?:\s*=\s*(?P<default_val>([\w.\"\s\?:\-+\\\/*]+|\((?>[^()]|(?2))*\)|\[(?>[^\[\]]|(?2))*\])+))?(?:,|$)'
-
-    # remove all comments from SCAD code
-    scad_code_str = re.sub(no_comments_re, '', scad_code_str)
-    # get all SCAD callables
-    mod_matches = re.finditer(mod_re, scad_code_str)
-
-    for m in mod_matches:
-        callable_name = m.group('callable_name')
+    for c in modules + functions:
         args = []
         kwargs = []
-        all_args = m.group('all_args')
-        if all_args:
-            arg_matches = re.finditer(args_re, all_args)
-            for am in arg_matches:
-                arg_name = am.group('arg_name')
-                if am.group('default_val'):
-                    kwargs.append(arg_name)
-                else:
-                    args.append(arg_name)
-
-        callables.append({'name': callable_name, 'args': args, 'kwargs': kwargs})
+
+        # for some reason solidpython needs to treat all openscad arguments as if
+        # they where optional. I don't know why, but at least to pass the tests
+        # it's neccessary to handle it like this !?!?!
+        for p in c.parameters:
+            kwargs.append(p.name)
+            # if p.optional:
+            #    kwargs.append(p.name)
+            # else:
+            #    args.append(p.name)
+
+        callables.append({"name": c.name, "args": args, "kwargs": kwargs})
 
     return callables
 
@@ -664,7 +665,7 @@ def calling_module(stack_depth: int = 2) -> ModuleType:
     for module A.
 
     This means that we have to know exactly how far back in the stack
-    our desired module is; if code in module B calls another function in 
+    our desired module is; if code in module B calls another function in
     module B, we have to increase the stack_depth argument to account for
     this.
 
@@ -680,13 +681,15 @@ def calling_module(stack_depth: int = 2) -> ModuleType:
     return calling_mod
 
 
-def new_openscad_class_str(class_name: str,
-                           args: Sequence[str] = None,
-                           kwargs: Sequence[str] = None,
-                           include_file_path: Optional[str] = None,
-                           use_not_include: bool = True) -> str:
-    args_str = ''
-    args_pairs = ''
+def new_openscad_class_str(
+    class_name: str,
+    args: Sequence[str] = None,
+    kwargs: Sequence[str] = None,
+    include_file_path: Optional[str] = None,
+    use_not_include: bool = True,
+) -> str:
+    args_str = ""
+    args_pairs = ""
 
     args = args or []
     kwargs = kwargs or []
@@ -698,7 +701,7 @@ def new_openscad_class_str(class_name: str,
 
     args = map(_subbed_keyword, args)  # type: ignore
     for arg in args:
-        args_str += ', ' + arg
+        args_str += ", " + arg
         args_pairs += f"'{arg}':{arg}, "
 
     # kwargs have a default value defined in their SCAD versions.  We don't
@@ -706,7 +709,7 @@ def new_openscad_class_str(class_name: str,
     # that one is defined.
     kwargs = map(_subbed_keyword, kwargs)  # type: ignore
     for kwarg in kwargs:
-        args_str += f', {kwarg}=None'
+        args_str += f", {kwarg}=None"
         args_pairs += f"'{kwarg}':{kwarg}, "
 
     if include_file_path:
@@ -717,18 +720,22 @@ def new_openscad_class_str(class_name: str,
 
         # NOTE the explicit import of 'solid' below. This is a fix for:
         # https://github.com/SolidCode/SolidPython/issues/20 -ETJ 16 Jan 2014
-        result = (f"import solid\n"
-                  f"class {class_name}(solid.IncludedOpenSCADObject):\n"
-                  f"   def __init__(self{args_str}, **kwargs):\n"
-                  f"       solid.IncludedOpenSCADObject.__init__(self, '{class_name}', {{{args_pairs} }}, include_file_path='{include_file_str}', use_not_include={use_not_include}, **kwargs )\n"
-                  f"   \n"
-                  f"\n")
+        result = (
+            f"import solid\n"
+            f"class {class_name}(solid.IncludedOpenSCADObject):\n"
+            f"   def __init__(self{args_str}, **kwargs):\n"
+            f"       solid.IncludedOpenSCADObject.__init__(self, '{class_name}', {{{args_pairs} }}, include_file_path='{include_file_str}', use_not_include={use_not_include}, **kwargs )\n"
+            f"   \n"
+            f"\n"
+        )
     else:
-        result = (f"class {class_name}(OpenSCADObject):\n"
-                  f"   def __init__(self{args_str}):\n"
-                  f"       OpenSCADObject.__init__(self, '{class_name}', {{{args_pairs }}})\n"
-                  f"   \n"
-                  f"\n")
+        result = (
+            f"class {class_name}(OpenSCADObject):\n"
+            f"   def __init__(self{args_str}):\n"
+            f"       OpenSCADObject.__init__(self, '{class_name}', {{{args_pairs}}})\n"
+            f"   \n"
+            f"\n"
+        )
 
     return result
 
@@ -736,39 +743,73 @@ def new_openscad_class_str(class_name: str,
 def _subbed_keyword(keyword: str) -> str:
     """
     Append an underscore to any python reserved word.
+    Prepend an underscore to any OpenSCAD identifier starting with a digit.
     No-op for all other strings, e.g. 'or' => 'or_', 'other' => 'other'
     """
-    new_key = keyword + '_' if keyword in PYTHON_ONLY_RESERVED_WORDS else keyword
+    new_key = keyword
+
+    if keyword in PYTHON_ONLY_RESERVED_WORDS:
+        new_key = keyword + "_"
+
+    elif keyword[0].isdigit():
+        new_key = "_" + keyword
+
+    elif keyword == "$fn":
+        new_key = "segments"
+
+    elif keyword[0] == "$":
+        new_key = "__" + keyword[1:]
+
     if new_key != keyword:
-        print(f"\nFound OpenSCAD code that's not compatible with Python. \n"
-              f"Imported OpenSCAD code using `{keyword}` \n"
-              f"can be accessed with `{new_key}` in SolidPython\n")
+        print(
+            f"\nFound OpenSCAD code that's not compatible with Python. \n"
+            f"Imported OpenSCAD code using `{keyword}` \n"
+            f"can be accessed with `{new_key}` in SolidPython\n"
+        )
     return new_key
 
 
 def _unsubbed_keyword(subbed_keyword: str) -> str:
     """
     Remove trailing underscore for already-subbed python reserved words.
+    Remove prepending underscore if remaining identifier starts with a digit.
     No-op for all other strings: e.g. 'or_' => 'or', 'other_' => 'other_'
     """
-    shortened = subbed_keyword[:-1]
-    return shortened if shortened in PYTHON_ONLY_RESERVED_WORDS else subbed_keyword
+    if (
+        subbed_keyword.endswith("_")
+        and subbed_keyword[:-1] in PYTHON_ONLY_RESERVED_WORDS
+    ):
+        return subbed_keyword[:-1]
+
+    elif subbed_keyword.startswith("__"):
+        return "$" + subbed_keyword[2:]
+
+    elif subbed_keyword.startswith("_") and subbed_keyword[1].isdigit():
+        return subbed_keyword[1:]
+
+    elif subbed_keyword == "segments":
+        return "$fn"
+
+    return subbed_keyword
 
 
 # now that we have the base class defined, we can do a circular import
-from . import objects
+from . import objects  # noqa: E402
 
 
 def py2openscad(o: Union[bool, float, str, Iterable]) -> str:
-    if type(o) == bool:
+    if type(o) is bool:
         return str(o).lower()
-    if type(o) == float:
+    if type(o) is float:
         return f"{o:.10f}"  # type: ignore
-    if type(o) == str:
-        return f'\"{o}\"'  # type: ignore
+    if type(o) is str:
+        return f'"{o}"'  # type: ignore
     if type(o).__name__ == "ndarray":
         import numpy  # type: ignore
+
         return numpy.array2string(o, separator=",", threshold=1000000000)
+    if isinstance(o, IncludedOpenSCADObject):
+        return o._render()[1:-1]
     if hasattr(o, "__iter__"):
         s = "["
         first = True
diff --git a/solid/splines.py b/solid/splines.py
index 02878c67..9a954630 100644
--- a/solid/splines.py
+++ b/solid/splines.py
@@ -1,36 +1,58 @@
 #! /usr/bin/env python
 from math import pow
 
-from solid import circle, cylinder, polygon, color, OpenSCADObject, translate, linear_extrude
-from solid.utils import bounding_box, right, Red
+from solid import (
+    circle,
+    cylinder,
+    polygon,
+    color,
+    OpenSCADObject,
+    translate,
+    linear_extrude,
+    polyhedron,
+)
+from solid.utils import bounding_box, Red, Tuple3, euclidify
 from euclid3 import Vector2, Vector3, Point2, Point3
 
 from typing import Sequence, Tuple, Union, List, cast
 
 Point23 = Union[Point2, Point3]
+# These *Input types accept either euclid3.Point* objects, or bare n-tuples
+Point2Input = Union[Point2, Tuple[float, float]]
+Point3Input = Union[Point3, Tuple[float, float, float]]
+Point23Input = Union[Point2Input, Point3Input]
+
+PointInputs = Sequence[Point23Input]
+
+FaceTrio = Tuple[int, int, int]
+CMPatchPoints = Tuple[Sequence[Point3Input], Sequence[Point3Input]]
+
 Vec23 = Union[Vector2, Vector3]
-FourPoints = Tuple[Point23, Point23, Point23, Point23]
+FourPoints = Tuple[Point23Input, Point23Input, Point23Input, Point23Input]
 SEGMENTS = 48
 
 DEFAULT_SUBDIVISIONS = 10
 DEFAULT_EXTRUDE_HEIGHT = 1
 
+
 # =======================
 # = CATMULL-ROM SPLINES =
 # =======================
-def catmull_rom_polygon(points: Sequence[Point23], 
-                        subdivisions: int = DEFAULT_SUBDIVISIONS, 
-                        extrude_height: float = DEFAULT_EXTRUDE_HEIGHT, 
-                        show_controls: bool =False,
-                        center: bool=True) -> OpenSCADObject:
+def catmull_rom_polygon(
+    points: Sequence[Point23Input],
+    subdivisions: int = DEFAULT_SUBDIVISIONS,
+    extrude_height: float = DEFAULT_EXTRUDE_HEIGHT,
+    show_controls: bool = False,
+    center: bool = True,
+) -> OpenSCADObject:
     """
-    Return a closed OpenSCAD polygon object through all of `points`, 
-    extruded to `extrude_height`. If `show_controls` is True, return red 
+    Return a closed OpenSCAD polygon object through all of `points`,
+    extruded to `extrude_height`. If `show_controls` is True, return red
     cylinders at each of the specified control points; this makes it easier to
     move determine which points should move to get a desired shape.
 
     NOTE: if `extrude_height` is 0, this function returns a 2D `polygon()`
-    object, which OpenSCAD can only combine with other 2D objects 
+    object, which OpenSCAD can only combine with other 2D objects
     (e.g. `square`, `circle`, but not `cube` or `cylinder`). If `extrude_height`
     is nonzero, the object returned will be 3D and only combine with 3D objects.
     """
@@ -43,57 +65,73 @@ def catmull_rom_polygon(points: Sequence[Point23],
         shape += control_points(points, extrude_height, center)
     return shape
 
-def catmull_rom_points( points: Sequence[Point23], 
-                        subdivisions:int = 10, 
-                        close_loop: bool=False,
-                        start_tangent: Vec23 = None,
-                        end_tangent: Vec23 = None) -> List[Point23]:
+
+def catmull_rom_points(
+    points: Sequence[Point23Input],
+    subdivisions: int = DEFAULT_SUBDIVISIONS,
+    close_loop: bool = False,
+    start_tangent: Vec23 = None,
+    end_tangent: Vec23 = None,
+) -> List[Point3]:
     """
-    Return a smooth set of points through `points`, with `subdivision` points 
-    between each pair of control points. 
-    
-    If `close_loop` is False, `start_tangent` and `end_tangent` can specify 
-    tangents at the open ends of the returned curve. If not supplied, tangents 
+    Return a smooth set of points through `points`, with `subdivisions` points
+    between each pair of control points.
+
+    If `close_loop` is False, `start_tangent` and `end_tangent` can specify
+    tangents at the open ends of the returned curve. If not supplied, tangents
     will be colinear with first and last supplied segments
 
-    Credit due: Largely taken from C# code at: 
+    Credit due: Largely taken from C# code at:
     https://www.habrador.com/tutorials/interpolation/1-catmull-rom-splines/
     retrieved 20190712
     """
-    catmull_points: List[Point23] = []
-    cat_points: List[Point23] = []
-    points_list = cast(List[Point23], points)
+    catmull_points: List[Point3] = []
+    cat_points: List[Point3] = []
+    # points_list = cast(List[Point23], points)
+
+    points_list = list([euclidify(p, Point3) for p in points])
 
     if close_loop:
-        cat_points = [points[-1]] + points_list + [points[0]] 
+        cat_points = euclidify(
+            [points_list[-1]] + points_list + points_list[0:2], Point3
+        )
     else:
         # Use supplied tangents or just continue the ends of the supplied points
-        start_tangent = start_tangent or (points[1] - points[0])
-        end_tangent = end_tangent or (points[-2] - points[-1])
-        cat_points = [points[0]+ start_tangent] + points_list + [points[-1] + end_tangent]
+        start_tangent = start_tangent or (points_list[1] - points_list[0])
+        start_tangent = euclidify(start_tangent, Vector3)
+        end_tangent = end_tangent or (points_list[-2] - points_list[-1])
+        end_tangent = euclidify(end_tangent, Vector3)
+        cat_points = (
+            [points_list[0] + start_tangent]
+            + points_list
+            + [points_list[-1] + end_tangent]
+        )
 
-    last_point_range = len(cat_points) - 2 if close_loop else len(cat_points) - 3
+    last_point_range = len(cat_points) - 3 if close_loop else len(cat_points) - 3
 
     for i in range(0, last_point_range):
         include_last = True if i == last_point_range - 1 else False
-        controls = cat_points[i:i+4]
+        controls = cat_points[i : i + 4]
         # If we're closing a loop, controls needs to wrap around the end of the array
         points_needed = 4 - len(controls)
         if points_needed > 0:
             controls += cat_points[0:points_needed]
         controls_tuple = cast(FourPoints, controls)
-        catmull_points += _catmull_rom_segment(controls_tuple, subdivisions, include_last)
+        catmull_points += _catmull_rom_segment(
+            controls_tuple, subdivisions, include_last
+        )
 
     return catmull_points
 
-def _catmull_rom_segment(controls: FourPoints, 
-                         subdivisions: int, 
-                         include_last=False) -> List[Point23]: 
+
+def _catmull_rom_segment(
+    controls: FourPoints, subdivisions: int, include_last=False
+) -> List[Point3]:
     """
     Returns `subdivisions` Points between the 2nd & 3rd elements of `controls`,
     on a quadratic curve that passes through all 4 control points.
     If `include_last` is True, return `subdivisions` + 1 points, the last being
-    controls[2]. 
+    controls[2].
 
     No reason to call this unless you're trying to do something very specific
     """
@@ -104,99 +142,381 @@ def _catmull_rom_segment(controls: FourPoints,
     if include_last:
         num_points += 1
 
-    p0, p1, p2, p3 = controls
+    p0, p1, p2, p3 = [euclidify(p, Point3) for p in controls]
     a = 2 * p1
     b = p2 - p0
-    c = 2* p0 - 5*p1 + 4*p2 - p3
-    d = -p0 + 3*p1 - 3*p2 + p3
+    c = 2 * p0 - 5 * p1 + 4 * p2 - p3
+    d = -p0 + 3 * p1 - 3 * p2 + p3
 
     for i in range(num_points):
-        t = i/subdivisions
+        t = i / subdivisions
         pos = 0.5 * (a + (b * t) + (c * t * t) + (d * t * t * t))
-        positions.append(pos)
+        positions.append(Point3(*pos))
     return positions
 
+
+def catmull_rom_patch_points(
+    patch: Tuple[PointInputs, PointInputs],
+    subdivisions: int = DEFAULT_SUBDIVISIONS,
+    index_start: int = 0,
+) -> Tuple[List[Point3], List[FaceTrio]]:
+    verts: List[Point3] = []
+    faces: List[FaceTrio] = []
+
+    cm_points_a = catmull_rom_points(patch[0], subdivisions=subdivisions)
+    cm_points_b = catmull_rom_points(patch[1], subdivisions=subdivisions)
+
+    strip_length = len(cm_points_a)
+
+    for i in range(subdivisions + 1):
+        frac = i / subdivisions
+        verts += list(
+            [affine_combination(a, b, frac) for a, b in zip(cm_points_a, cm_points_b)]
+        )
+        a_start = i * strip_length + index_start
+        b_start = a_start + strip_length
+        # This connects the verts we just created to the verts we'll make on the
+        # next loop. So don't calculate for the last loop
+        if i < subdivisions:
+            faces += face_strip_list(a_start, b_start, strip_length)
+
+    return verts, faces
+
+
+def catmull_rom_patch(
+    patch: Tuple[PointInputs, PointInputs], subdivisions: int = DEFAULT_SUBDIVISIONS
+) -> OpenSCADObject:
+    faces, vertices = catmull_rom_patch_points(patch, subdivisions)
+    return polyhedron(faces, vertices)
+
+
+def catmull_rom_prism(
+    control_curves: Sequence[PointInputs],
+    subdivisions: int = DEFAULT_SUBDIVISIONS,
+    closed_ring: bool = True,
+    add_caps: bool = True,
+    smooth_edges: bool = False,
+) -> polyhedron:
+    if smooth_edges:
+        return catmull_rom_prism_smooth_edges(
+            control_curves, subdivisions, closed_ring, add_caps
+        )
+
+    verts: List[Point3] = []
+    faces: List[FaceTrio] = []
+
+    curves = list([euclidify(c) for c in control_curves])
+    if closed_ring:
+        curves.append(curves[0])
+
+    curve_length = (len(curves[0]) - 1) * subdivisions + 1
+    for i, (a, b) in enumerate(zip(curves[:-1], curves[1:])):
+        index_start = len(verts) - curve_length
+        first_new_vert = curve_length
+        if i == 0:
+            index_start = 0
+            first_new_vert = 0
+
+        new_verts, new_faces = catmull_rom_patch_points(
+            (a, b), subdivisions=subdivisions, index_start=index_start
+        )
+
+        # new_faces describes all the triangles in the patch we just computed,
+        # but new_verts shares its first curve_length vertices with the last
+        # curve_length vertices; Add on only the new points
+        verts += new_verts[first_new_vert:]
+        faces += new_faces
+
+    if closed_ring and add_caps:
+        bot_indices = range(0, len(verts), curve_length)
+        top_indices = range(curve_length - 1, len(verts), curve_length)
+
+        bot_centroid, bot_faces = centroid_endcap(verts, bot_indices)
+        verts.append(bot_centroid)
+        faces += bot_faces
+        # Note that bot_centroid must be added to verts before creating the
+        # top endcap; otherwise both endcaps would point to the same centroid point
+        top_centroid, top_faces = centroid_endcap(verts, top_indices, invert=True)
+        verts.append(top_centroid)
+        faces += top_faces
+
+    p = polyhedron(faces=faces, points=verts, convexity=3)
+    return p
+
+
+def catmull_rom_prism_smooth_edges(
+    control_curves: Sequence[PointInputs],
+    subdivisions: int = DEFAULT_SUBDIVISIONS,
+    closed_ring: bool = True,
+    add_caps: bool = True,
+) -> polyhedron:
+    verts: List[Point3] = []
+    faces: List[FaceTrio] = []
+
+    # TODO: verify that each control_curve has the same length
+
+    curves = list([euclidify(c) for c in control_curves])
+
+    expanded_curves = [
+        catmull_rom_points(c, subdivisions, close_loop=False) for c in curves
+    ]
+    expanded_length = len(expanded_curves[0])
+    for i in range(expanded_length):
+        contour_controls = [c[i] for c in expanded_curves]
+        contour = catmull_rom_points(
+            contour_controls, subdivisions, close_loop=closed_ring
+        )
+        verts += contour
+
+        contour_length = len(contour)
+        # generate the face triangles between the last two rows of vertices
+        if i > 0:
+            a_start = len(verts) - 2 * contour_length
+            b_start = len(verts) - contour_length
+            # Note the b_start, a_start order here. This makes sure our faces
+            # are pointed outwards for the test cases I ran. I think if control
+            # curves were specified clockwise rather than counter-clockwise, all
+            # of the faces would be pointed inwards
+            new_faces = face_strip_list(
+                b_start, a_start, length=contour_length, close_loop=closed_ring
+            )
+            faces += new_faces
+
+    if closed_ring and add_caps:
+        bot_indices = range(0, contour_length)
+        top_indices = range(len(verts) - contour_length, len(verts))
+
+        bot_centroid, bot_faces = centroid_endcap(verts, bot_indices)
+        verts.append(bot_centroid)
+        faces += bot_faces
+        # Note that bot_centroid must be added to verts before creating the
+        # top endcap; otherwise both endcaps would point to the same centroid point
+        top_centroid, top_faces = centroid_endcap(verts, top_indices, invert=True)
+        verts.append(top_centroid)
+        faces += top_faces
+
+    p = polyhedron(faces=faces, points=verts, convexity=3)
+    return p
+
+
 # ==================
 # = BEZIER SPLINES =
 # ==================
-# Ported from William A. Adams' Bezier OpenSCAD code at: 
+# Ported from William A. Adams' Bezier OpenSCAD code at:
 # https://www.thingiverse.com/thing:8443
 
-def bezier_polygon( controls: FourPoints, 
-                    subdivisions:int = DEFAULT_SUBDIVISIONS, 
-                    extrude_height:float = DEFAULT_EXTRUDE_HEIGHT,
-                    show_controls: bool = False,
-                    center: bool = True) -> OpenSCADObject:
+
+def bezier_polygon(
+    controls: FourPoints,
+    subdivisions: int = DEFAULT_SUBDIVISIONS,
+    extrude_height: float = DEFAULT_EXTRUDE_HEIGHT,
+    show_controls: bool = False,
+    center: bool = True,
+) -> OpenSCADObject:
+    """
+    Return an OpenSCAD object representing a closed quadratic Bezier curve.
+    If extrude_height == 0, return a 2D `polygon()` object.
+    If extrude_height > 0, return a 3D extrusion of specified height.
+    Note that OpenSCAD won't render 2D & 3D objects together correctly, so pick
+    one and use that.
+    """
     points = bezier_points(controls, subdivisions)
-    shape = polygon(points)
+    # OpenSCAD can'ts handle Point3s in creating a polygon. Convert them to Point2s
+    # Note that this prevents us from making polygons outside of the XY plane,
+    # even though a polygon could reasonably be in some other plane while remaining 2D
+    points = list((Point2(p.x, p.y) for p in points))
+    shape: OpenSCADObject = polygon(points)
     if extrude_height != 0:
         shape = linear_extrude(extrude_height, center=center)(shape)
 
     if show_controls:
-        control_objs = control_points(controls, extrude_height=extrude_height, center=center)
+        control_objs = control_points(
+            controls, extrude_height=extrude_height, center=center
+        )
         shape += control_objs
-    
+
     return shape
 
-def bezier_points(controls: FourPoints, 
-                  subdivisions: int = DEFAULT_SUBDIVISIONS,
-                  include_last: bool = True) -> List[Point2]:
+
+def bezier_points(
+    controls: FourPoints,
+    subdivisions: int = DEFAULT_SUBDIVISIONS,
+    include_last: bool = True,
+) -> List[Point3]:
     """
     Returns a list of `subdivisions` (+ 1, if `include_last` is True) points
-    on the cubic bezier curve defined by `controls`. The curve passes through 
+    on the cubic bezier curve defined by `controls`. The curve passes through
     controls[0] and controls[3]
 
     If `include_last` is True, the last point returned will be controls[3]; if
     False, (useful for linking several curves together), controls[3] won't be included
 
-    Ported from William A. Adams' Bezier OpenSCAD code at: 
+    Ported from William A. Adams' Bezier OpenSCAD code at:
     https://www.thingiverse.com/thing:8443
     """
     # TODO: enable a smooth curve through arbitrarily many points, as described at:
     # https://www.algosome.com/articles/continuous-bezier-curve-line.html
 
-    points: List[Point2] = []
+    points: List[Point3] = []
     last_elt = 1 if include_last else 0
     for i in range(subdivisions + last_elt):
-        u = i/subdivisions
+        u = i / subdivisions
         points.append(_point_along_bez4(*controls, u))
     return points
 
-def _point_along_bez4(p0: Point23, p1: Point23, p2: Point23, p3: Point23, u:float) -> Point2:
-    x = _bez03(u)*p0.x + _bez13(u)*p1.x + _bez23(u)*p2.x + _bez33(u)*p3.x
-    y = _bez03(u)*p0.y + _bez13(u)*p1.y + _bez23(u)*p2.y + _bez33(u)*p3.y
-    return Point2(x,y)
 
-def _bez03(u:float) -> float:
-    return pow((1-u), 3)
+def _point_along_bez4(
+    p0: Point23Input, p1: Point23Input, p2: Point23Input, p3: Point23Input, u: float
+) -> Point3:
+    p0 = euclidify(p0)
+    p1 = euclidify(p1)
+    p2 = euclidify(p2)
+    p3 = euclidify(p3)
+
+    x = _bez03(u) * p0.x + _bez13(u) * p1.x + _bez23(u) * p2.x + _bez33(u) * p3.x
+    y = _bez03(u) * p0.y + _bez13(u) * p1.y + _bez23(u) * p2.y + _bez33(u) * p3.y
+    z = _bez03(u) * p0.z + _bez13(u) * p1.z + _bez23(u) * p2.z + _bez33(u) * p3.z
+    return Point3(x, y, z)
+
 
-def _bez13(u:float) -> float:
-    return 3*u*(pow((1-u),2))
+def _bez03(u: float) -> float:
+    return pow((1 - u), 3)
 
-def _bez23(u:float) -> float:
-    return 3*(pow(u,2))*(1-u)
 
-def _bez33(u:float) -> float:
-    return pow(u,3)
+def _bez13(u: float) -> float:
+    return 3 * u * (pow((1 - u), 2))
+
+
+def _bez23(u: float) -> float:
+    return 3 * (pow(u, 2)) * (1 - u)
+
+
+def _bez33(u: float) -> float:
+    return pow(u, 3)
+
+
+# ================
+# = HOBBY CURVES =
+# ================
+
 
 # ===========
 # = HELPERS =
 # ===========
-def control_points(points: Sequence[Point23], extrude_height:float=0, center:bool=True) -> OpenSCADObject:
+def control_points(
+    points: Sequence[Point23],
+    extrude_height: float = 0,
+    center: bool = True,
+    points_color: Tuple3 = Red,
+) -> OpenSCADObject:
     """
     Return a list of red cylinders/circles (depending on `extrude_height`) at
-    a supplied set of 2D points. Useful for visualizing and tweaking a curve's 
+    a supplied set of 2D points. Useful for visualizing and tweaking a curve's
     control points
     """
     # Figure out how big the circles/cylinders should be based on the spread of points
     min_bb, max_bb = bounding_box(points)
     outline_w = max_bb[0] - min_bb[0]
     outline_h = max_bb[1] - min_bb[1]
-    r = min(outline_w, outline_h) / 20 # 
+    r = min(outline_w, outline_h) / 20  #
     if extrude_height == 0:
         c = circle(r=r)
     else:
         h = extrude_height * 1.1
         c = cylinder(r=r, h=h, center=center)
-    controls = color(Red)([translate([p.x, p.y])(c) for p in points])
+    controls = color(points_color)([translate((p.x, p.y, 0))(c) for p in points])
     return controls
+
+
+def face_strip_list(
+    a_start: int, b_start: int, length: int, close_loop: bool = False
+) -> List[FaceTrio]:
+    # If a_start is the index of the vertex at one end of a row of points in a surface,
+    # and b_start is the index of the vertex at the same end of the next row of points,
+    # return a list of lists of indices describing faces for the whole row:
+    # face_strip_list(a_start = 0, b_start = 3, length=3) => [[0,4,3], [0,1,4], [1,5,4], [1,2,5]]
+    #   3-4-5
+    #   |/|/|
+    #   0-1-2  =>  [[0,4,3], [0,1,4], [1,5,4], [1,2,5]]
+    #
+    # If close_loop is true, add one more pair of faces connecting the far
+    # edge of the strip to the near edge, in this case [[2,3,5], [2,0,3]]
+    faces: List[FaceTrio] = []
+    loop = length - 1
+
+    for a, b in zip(range(a_start, a_start + loop), range(b_start, b_start + loop)):
+        faces.append((a, b + 1, b))
+        faces.append((a, a + 1, b + 1))
+    if close_loop:
+        faces.append((a + loop, b, b + loop))
+        faces.append((a + loop, a, b))
+    return faces
+
+
+def fan_endcap_list(cap_points: int = 3, index_start: int = 0) -> List[FaceTrio]:
+    """
+    Return a face-triangles list for the endpoint of a tube with cap_points points
+    We construct a fan of triangles all starting at point index_start and going
+    to each point in turn. 
+    
+    NOTE that this would not work for non-convex rings. 
+    In that case, it would probably be better to create a new centroid point and have
+    all triangle reach out from it. That wouldn't handle all polygons, but would
+    work with mildly concave ones like a star, for example.
+
+    So fan_endcap_list(cap_points=6, index_start=0), like so:
+           0   
+         /   \
+       5      1
+       |      | 
+       4      2
+         \   /
+           3      
+    
+           returns:  [(0,1,2), (0,2,3), (0,3,4), (0,4,5)]      
+    """
+    faces: List[FaceTrio] = []
+    for i in range(index_start + 1, index_start + cap_points - 1):
+        faces.append((index_start, i, i + 1))
+    return faces
+
+
+def centroid_endcap(
+    tube_points: Sequence[Point3], indices: Sequence[int], invert: bool = False
+) -> Tuple[Point3, List[FaceTrio]]:
+    # tube_points: all points in a polyhedron tube
+    # indices: the indexes of the points at the desired end of the tube
+    # invert: if True, invert the order of the generated faces. One endcap in
+    #   each pair should be inverted
+    #
+    # Return all the triangle information needed to make an endcap polyhedron
+    #
+    # This is sufficient for some moderately concave polygonal endcaps,
+    # (a star shape, say), but wouldn't be enough for more irregularly convex
+    # polygons (anyplace where a segment from the centroid to a point on the
+    # polygon crosses an edge of the polygon)
+    faces: List[FaceTrio] = []
+    center = centroid([tube_points[i] for i in indices])
+    centroid_index = len(tube_points)
+
+    for a, b in zip(indices[:-1], indices[1:]):
+        faces.append((centroid_index, a, b))
+    faces.append((centroid_index, indices[-1], indices[0]))
+
+    if invert:
+        faces = list((reversed(f) for f in faces))  # type: ignore
+
+    return (center, faces)
+
+
+def centroid(points: Sequence[Point23]) -> Point23:
+    total = Point3(0, 0, 0)
+    for p in points:
+        total += p
+    total /= len(points)
+    return total
+
+
+def affine_combination(a: Point23, b: Point23, fraction: float) -> Point23:
+    # Return a Point[23] between a & b, where fraction==0 => a, fraction==1 => b
+    return (1 - fraction) * a + fraction * b
diff --git a/solid/test/ExpandedTestCase.py b/solid/test/ExpandedTestCase.py
index cba00a43..2f16f8f1 100644
--- a/solid/test/ExpandedTestCase.py
+++ b/solid/test/ExpandedTestCase.py
@@ -1,28 +1,21 @@
 """
 A version of unittest that gives output in an easier to use format
 """
-import sys
+
 import unittest
 import difflib
 
 
 class DiffOutput(unittest.TestCase):
-
     def assertEqual(self, first, second, msg=None):
         """
         Override assertEqual and print(a context diff if msg=None)
         """
-        # Test if both are strings, in Python 2 & 3
-        string_types = str if sys.version_info[0] == 3 else basestring
-
-        if isinstance(first, string_types) and isinstance(second, string_types):
+        if isinstance(first, str) and isinstance(second, str):
             if not msg:
-                msg = 'Strings are not equal:\n' + ''.join(
+                msg = "Strings are not equal:\n" + "".join(
                     difflib.unified_diff(
-                        [first],
-                        [second],
-                        fromfile='actual',
-                        tofile='expected'
+                        [first], [second], fromfile="actual", tofile="expected"
                     )
                 )
         return super(DiffOutput, self).assertEqual(first, second, msg=msg)
diff --git a/solid/test/run_all_tests.sh b/solid/test/run_all_tests.sh
index 3732b294..a40ad1a0 100755
--- a/solid/test/run_all_tests.sh
+++ b/solid/test/run_all_tests.sh
@@ -4,8 +4,16 @@
 DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" >/dev/null && pwd )"
 cd $DIR
 
-# Let unittest discover all the tests
-python -m unittest discover .
+export PYTHONPATH="../../":$PYTHONPATH
+# Run all tests. Note that unittest's built-in discovery doesn't run the dynamic 
+# testcase generation they contain
+for i in test_*.py;
+do 
+    echo $i;
+    python3 $i;
+    echo
+done
+
 
 # revert to original dir
-cd -
\ No newline at end of file
+cd -
diff --git a/solid/test/test_extrude_along_path.py b/solid/test/test_extrude_along_path.py
new file mode 100755
index 00000000..aee6fd77
--- /dev/null
+++ b/solid/test/test_extrude_along_path.py
@@ -0,0 +1,136 @@
+#! /usr/bin/env python3
+import unittest
+import re
+
+from solid import OpenSCADObject, scad_render
+from solid.utils import extrude_along_path
+from euclid3 import Point2, Point3
+
+from typing import Union
+
+tri = [Point3(0, 0, 0), Point3(10, 0, 0), Point3(0, 10, 0)]
+
+
+class TestExtrudeAlongPath(unittest.TestCase):
+    # Test cases will be dynamically added to this instance
+    # using the test case arrays above
+    def assertEqualNoWhitespace(self, a, b):
+        remove_whitespace = lambda s: re.subn(r"[\s\n]", "", s)[0]  # noqa: E731
+        self.assertEqual(remove_whitespace(a), remove_whitespace(b))
+
+    def assertEqualOpenScadObject(
+        self, expected: str, actual: Union[OpenSCADObject, str]
+    ):
+        if isinstance(actual, OpenSCADObject):
+            act = scad_render(actual)
+        elif isinstance(actual, str):
+            act = actual
+        self.assertEqualNoWhitespace(expected, act)
+
+    def test_extrude_along_path(self):
+        path = [[0, 0, 0], [0, 20, 0]]
+        # basic test
+        actual = extrude_along_path(tri, path)
+        expected = "polyhedron(convexity=10,faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[2,0,5],[0,3,5],[2,1,0],[3,4,5]],points=[[0.0000000000,0.0000000000,0.0000000000],[10.0000000000,0.0000000000,0.0000000000],[0.0000000000,0.0000000000,10.0000000000],[0.0000000000,20.0000000000,0.0000000000],[10.0000000000,20.0000000000,0.0000000000],[0.0000000000,20.0000000000,10.0000000000]]);"
+        self.assertEqualOpenScadObject(expected, actual)
+
+    def test_extrude_along_path_vertical(self):
+        # make sure we still look good extruding along z axis; gimbal lock can mess us up
+        vert_path = [[0, 0, 0], [0, 0, 20]]
+        actual = extrude_along_path(tri, vert_path)
+        expected = "polyhedron(convexity=10,faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[2,0,5],[0,3,5],[2,1,0],[3,4,5]],points=[[0.0000000000,0.0000000000,0.0000000000],[-10.0000000000,0.0000000000,0.0000000000],[0.0000000000,10.0000000000,0.0000000000],[0.0000000000,0.0000000000,20.0000000000],[-10.0000000000,0.0000000000,20.0000000000],[0.0000000000,10.0000000000,20.0000000000]]); "
+        self.assertEqualOpenScadObject(expected, actual)
+
+    def test_extrude_along_path_1d_scale(self):
+        # verify that we can apply scalar scaling
+        path = [[0, 0, 0], [0, 20, 0]]
+        scales_1d = [1.5, 0.5]
+        actual = extrude_along_path(tri, path, scales=scales_1d)
+        expected = "polyhedron(convexity=10,faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[2,0,5],[0,3,5],[2,1,0],[3,4,5]],points=[[0.0000000000,0.0000000000,0.0000000000],[15.0000000000,0.0000000000,0.0000000000],[0.0000000000,0.0000000000,15.0000000000],[0.0000000000,20.0000000000,0.0000000000],[5.0000000000,20.0000000000,0.0000000000],[0.0000000000,20.0000000000,5.0000000000]]);"
+
+        self.assertEqualOpenScadObject(expected, actual)
+
+    def test_extrude_along_path_2d_scale(self):
+        # verify that we can apply differential x & y scaling
+        path = [[0, 0, 0], [0, 20, 0], [0, 40, 0]]
+        scales_2d = [
+            Point2(1, 1),
+            Point2(0.5, 1.5),
+            Point2(1.5, 0.5),
+        ]
+        actual = extrude_along_path(tri, path, scales=scales_2d)
+        expected = "polyhedron(convexity=10,faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[2,0,5],[0,3,5],[3,4,6],[4,7,6],[4,5,7],[5,8,7],[5,3,8],[3,6,8],[2,1,0],[6,7,8]],points=[[0.0000000000,0.0000000000,0.0000000000],[10.0000000000,0.0000000000,0.0000000000],[0.0000000000,0.0000000000,10.0000000000],[0.0000000000,20.0000000000,0.0000000000],[5.0000000000,20.0000000000,0.0000000000],[0.0000000000,20.0000000000,15.0000000000],[0.0000000000,40.0000000000,0.0000000000],[15.0000000000,40.0000000000,0.0000000000],[0.0000000000,40.0000000000,5.0000000000]]);"
+        self.assertEqualOpenScadObject(expected, actual)
+
+    def test_extrude_along_path_2d_scale_list_input(self):
+        # verify that we can apply differential x & y scaling
+        path = [[0, 0, 0], [0, 20, 0], [0, 40, 0]]
+        scales_2d = [
+            (1, 1),
+            (0.5, 1.5),
+            (1.5, 0.5),
+        ]
+        actual = extrude_along_path(tri, path, scales=scales_2d)
+        expected = "polyhedron(convexity=10,faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[2,0,5],[0,3,5],[3,4,6],[4,7,6],[4,5,7],[5,8,7],[5,3,8],[3,6,8],[2,1,0],[6,7,8]],points=[[0.0000000000,0.0000000000,0.0000000000],[10.0000000000,0.0000000000,0.0000000000],[0.0000000000,0.0000000000,10.0000000000],[0.0000000000,20.0000000000,0.0000000000],[5.0000000000,20.0000000000,0.0000000000],[0.0000000000,20.0000000000,15.0000000000],[0.0000000000,40.0000000000,0.0000000000],[15.0000000000,40.0000000000,0.0000000000],[0.0000000000,40.0000000000,5.0000000000]]);"
+        self.assertEqualOpenScadObject(expected, actual)
+
+    def test_extrude_along_path_end_caps(self):
+        path = [[0, 0, 0], [0, 20, 0]]
+        actual = scad_render(extrude_along_path(tri, path, connect_ends=False))
+        expected = "polyhedron(convexity=10,faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[2,0,5],[0,3,5],[2,1,0],[3,4,5]],points=[[0.0000000000,0.0000000000,0.0000000000],[10.0000000000,0.0000000000,0.0000000000],[0.0000000000,0.0000000000,10.0000000000],[0.0000000000,20.0000000000,0.0000000000],[10.0000000000,20.0000000000,0.0000000000],[0.0000000000,20.0000000000,10.0000000000]]); "
+        self.assertEqualNoWhitespace(expected, actual)
+
+    def test_extrude_along_path_connect_ends(self):
+        path = [[0, 0, 0], [20, 0, 0], [20, 20, 0], [0, 20, 0]]
+        actual = extrude_along_path(tri, path, connect_ends=True)
+        expected = "polyhedron(convexity=10,faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[2,0,5],[0,3,5],[3,4,6],[4,7,6],[4,5,7],[5,8,7],[5,3,8],[3,6,8],[6,7,9],[7,10,9],[7,8,10],[8,11,10],[8,6,11],[6,9,11],[9,10,0],[10,1,0],[10,11,1],[11,2,1],[11,9,2],[9,0,2]],points=[[0.0000000000,0.0000000000,0.0000000000],[-7.0710678119,-7.0710678119,0.0000000000],[0.0000000000,0.0000000000,10.0000000000],[20.0000000000,0.0000000000,0.0000000000],[27.0710678119,-7.0710678119,0.0000000000],[20.0000000000,0.0000000000,10.0000000000],[20.0000000000,20.0000000000,0.0000000000],[27.0710678119,27.0710678119,0.0000000000],[20.0000000000,20.0000000000,10.0000000000],[0.0000000000,20.0000000000,0.0000000000],[-7.0710678119,27.0710678119,0.0000000000],[0.0000000000,20.0000000000,10.0000000000]]); "
+        self.assertEqualOpenScadObject(expected, actual)
+
+    def test_extrude_along_path_rotations(self):
+        # confirm we can rotate for each point in path
+        path = [[0, 0, 0], [20, 0, 0]]
+        rotations = [-45, 45]
+        actual = extrude_along_path(tri, path, rotations=rotations)
+        expected = "polyhedron(convexity=10,faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[2,0,5],[0,3,5],[2,1,0],[3,4,5]],points=[[0.0000000000,0.0000000000,0.0000000000],[0.0000000000,-7.0710678119,-7.0710678119],[0.0000000000,-7.0710678119,7.0710678119],[20.0000000000,0.0000000000,0.0000000000],[20.0000000000,-7.0710678119,7.0710678119],[20.0000000000,7.0710678119,7.0710678119]]); "
+        self.assertEqualOpenScadObject(expected, actual)
+
+        # confirm we can rotate with a single supplied value
+        path = [[0, 0, 0], [20, 0, 0]]
+        rotations = [45]
+        actual = extrude_along_path(tri, path, rotations=rotations)
+        expected = "polyhedron(convexity=10,faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[2,0,5],[0,3,5],[2,1,0],[3,4,5]],points=[[0.0000000000,0.0000000000,0.0000000000],[0.0000000000,-10.0000000000,0.0000000000],[0.0000000000,0.0000000000,10.0000000000],[20.0000000000,0.0000000000,0.0000000000],[20.0000000000,-7.0710678119,7.0710678119],[20.0000000000,7.0710678119,7.0710678119]]); "
+        self.assertEqualOpenScadObject(expected, actual)
+
+    def test_extrude_along_path_transforms(self):
+        path = [[0, 0, 0], [20, 0, 0]]
+        # scale points by a factor of 2 & then 1/2
+        # Make sure we can take a transform function for each point in path
+        transforms = [lambda p, path, loop: 2 * p, lambda p, path, loop: 0.5 * p]
+        actual = extrude_along_path(tri, path, transforms=transforms)
+        expected = "polyhedron(convexity=10,faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[2,0,5],[0,3,5],[2,1,0],[3,4,5]],points=[[0.0000000000,0.0000000000,0.0000000000],[0.0000000000,-20.0000000000,0.0000000000],[0.0000000000,0.0000000000,20.0000000000],[20.0000000000,0.0000000000,0.0000000000],[20.0000000000,-5.0000000000,0.0000000000],[20.0000000000,0.0000000000,5.0000000000]]); "
+        self.assertEqualOpenScadObject(expected, actual)
+
+        # Make sure we can take a single transform function for all points
+        transforms = [lambda p, path, loop: 2 * p]
+        actual = extrude_along_path(tri, path, transforms=transforms)
+        expected = "polyhedron(convexity=10,faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[2,0,5],[0,3,5],[2,1,0],[3,4,5]],points=[[0.0000000000,0.0000000000,0.0000000000],[0.0000000000,-20.0000000000,0.0000000000],[0.0000000000,0.0000000000,20.0000000000],[20.0000000000,0.0000000000,0.0000000000],[20.0000000000,-20.0000000000,0.0000000000],[20.0000000000,0.0000000000,20.0000000000]]);"
+        self.assertEqualOpenScadObject(expected, actual)
+
+    def test_extrude_along_path_numpy(self):
+        try:
+            import numpy as np  # type: ignore
+        except ImportError:
+            return
+
+        N = 3
+        thetas = np.linspace(0, np.pi, N)
+        path = list(zip(3 * np.sin(thetas), 3 * np.cos(thetas), thetas))
+        profile = list(zip(np.sin(thetas), np.cos(thetas), [0] * len(thetas)))
+        scalepts = list(np.linspace(1, 0.1, N))
+
+        # in earlier code, this would have thrown an exception
+        extrude_along_path(shape_pts=profile, path_pts=path, scales=scalepts)
+
+
+if __name__ == "__main__":
+    unittest.main()
diff --git a/solid/test/test_screw_thread.py b/solid/test/test_screw_thread.py
index 5a09320d..1827ac12 100755
--- a/solid/test/test_screw_thread.py
+++ b/solid/test/test_screw_thread.py
@@ -8,30 +8,34 @@
 
 SEGMENTS = 4
 
-def remove_whitespace(a_str):
-    return re.subn(r'[\s\n]','', a_str)[0]
 
 class TestScrewThread(DiffOutput):
     def setUp(self):
         self.tooth_height = 10
         self.tooth_depth = 5
-        self.outline = default_thread_section(tooth_height=self.tooth_height, tooth_depth=self.tooth_depth)
+        self.outline = default_thread_section(
+            tooth_height=self.tooth_height, tooth_depth=self.tooth_depth
+        )
 
     def assertEqualNoWhitespace(self, a, b):
+        remove_whitespace = lambda s: re.subn(r"[\s\n]", "", s)[0]  # noqa: E731
         self.assertEqual(remove_whitespace(a), remove_whitespace(b))
 
     def test_thread(self):
-        actual_obj = thread(outline_pts=self.outline,
-                            inner_rad=20,
-                            pitch=self.tooth_height,
-                            length=0.75 * self.tooth_height,
-                            segments_per_rot=SEGMENTS,
-                            neck_in_degrees=45,
-                            neck_out_degrees=45)
+        actual_obj = thread(
+            outline_pts=self.outline,
+            inner_rad=20,
+            pitch=self.tooth_height,
+            length=0.75 * self.tooth_height,
+            segments_per_rot=SEGMENTS,
+            neck_in_degrees=45,
+            neck_out_degrees=45,
+        )
 
         actual = scad_render(actual_obj)
-        expected = '''intersection(){
+        expected = """intersection(){
             polyhedron(
+                convexity=2,
                 faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[0,5,2],[0,3,5],[3,4,6],[4,7,6],[4,5,7],[5,8,7],[3,8,5],[3,6,8],[6,7,9],[7,10,9],[7,8,10],[8,11,10],[6,11,8],[6,9,11],[0,2,1],[9,10,11]],
                 points=[[14.9900000000,0.0000000000,-5.0000000000],[19.9900000000,0.0000000000,0.0000000000],[14.9900000000,0.0000000000,5.0000000000],[0.0000000000,20.0000000000,-2.5000000000],[0.0000000000,25.0000000000,2.5000000000],[0.0000000000,20.0000000000,7.5000000000],[-20.0000000000,0.0000000000,0.0000000000],[-25.0000000000,0.0000000000,5.0000000000],[-20.0000000000,0.0000000000,10.0000000000],[-0.0000000000,-14.9900000000,2.5000000000],[-0.0000000000,-19.9900000000,7.5000000000],[-0.0000000000,-14.9900000000,12.5000000000]]
             );
@@ -39,41 +43,46 @@ def test_thread(self):
                 cylinder($fn=4,h=7.5000000000,r1=25.0100000000,r2=25.0100000000);
                 cylinder($fn=4,h=7.5000000000,r1=20,r2=20);
             }
-        }'''
+        }"""
         self.assertEqualNoWhitespace(expected, actual)
 
     def test_thread_internal(self):
-        actual_obj = thread(outline_pts=self.outline,
-                            inner_rad=20,
-                            pitch=2 * self.tooth_height,
-                            length=2 * self.tooth_height,
-                            segments_per_rot=SEGMENTS,
-                            neck_in_degrees=45,
-                            neck_out_degrees=45,
-                            external=False)
+        actual_obj = thread(
+            outline_pts=self.outline,
+            inner_rad=20,
+            pitch=2 * self.tooth_height,
+            length=2 * self.tooth_height,
+            segments_per_rot=SEGMENTS,
+            neck_in_degrees=45,
+            neck_out_degrees=45,
+            external=False,
+        )
         actual = scad_render(actual_obj)
-        expected = '''intersection() {
+        expected = """intersection() {
             polyhedron(
+                convexity=2,
                 faces = [[0, 1, 3], [1, 4, 3], [1, 2, 4], [2, 5, 4], [0, 5, 2], [0, 3, 5], [3, 4, 6], [4, 7, 6], [4, 5, 7], [5, 8, 7], [3, 8, 5], [3, 6, 8], [6, 7, 9], [7, 10, 9], [7, 8, 10], [8, 11, 10], [6, 11, 8], [6, 9, 11], [9, 10, 12], [10, 13, 12], [10, 11, 13], [11, 14, 13], [9, 14, 11], [9, 12, 14], [0, 2, 1], [12, 13, 14]], 
                 points = [[25.0100000000, 0.0000000000, 5.0000000000], [20.0100000000, 0.0000000000, 0.0000000000], [25.0100000000, 0.0000000000, -5.0000000000], [0.0000000000, 20.0000000000, 10.0000000000], [0.0000000000, 15.0000000000, 5.0000000000], [0.0000000000, 20.0000000000, 0.0000000000], [-20.0000000000, 0.0000000000, 15.0000000000], [-15.0000000000, 0.0000000000, 10.0000000000], [-20.0000000000, 0.0000000000, 5.0000000000], [-0.0000000000, -20.0000000000, 20.0000000000], [-0.0000000000, -15.0000000000, 15.0000000000], [-0.0000000000, -20.0000000000, 10.0000000000], [25.0100000000, -0.0000000000, 25.0000000000], [20.0100000000, -0.0000000000, 20.0000000000], [25.0100000000, -0.0000000000, 15.0000000000]]
             );
             cylinder($fn = 4, h = 20, r1 = 20, r2 = 20);
-        }'''
+        }"""
         self.assertEqualNoWhitespace(expected, actual)
 
     def test_conical_thread_external(self):
-        actual_obj = thread(outline_pts=self.outline,
-                            inner_rad=20,
-                            rad_2 = 40,
-                            pitch=self.tooth_height,
-                            length=0.75 * self.tooth_height,
-                            segments_per_rot=SEGMENTS,
-                            neck_in_degrees=45,
-                            neck_out_degrees=45,
-                            external=True)
-        actual = remove_whitespace(scad_render(actual_obj))
-        expected = '''intersection(){
-            polyhedron(
+        actual_obj = thread(
+            outline_pts=self.outline,
+            inner_rad=20,
+            rad_2=40,
+            pitch=self.tooth_height,
+            length=0.75 * self.tooth_height,
+            segments_per_rot=SEGMENTS,
+            neck_in_degrees=45,
+            neck_out_degrees=45,
+            external=True,
+        )
+        actual = scad_render(actual_obj)
+        expected = """intersection(){
+            polyhedron(convexity=2,
                 faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[0,5,2],[0,3,5],[3,4,6],[4,7,6],[4,5,7],[5,8,7],[3,8,5],[3,6,8],[6,7,9],[7,10,9],[7,8,10],[8,11,10],[6,11,8],[6,9,11],[0,2,1],[9,10,11]],
                 points=[[5.9450623365,0.0000000000,-1.7556172079],[12.3823254323,0.0000000000,-4.6816458878],[15.3083541122,0.0000000000,1.7556172079],[0.0000000000,21.9850207788,0.7443827921],[0.0000000000,28.4222838746,-2.1816458878],[0.0000000000,31.3483125545,4.2556172079],[-28.6516874455,0.0000000000,3.2443827921],[-35.0889505413,0.0000000000,0.3183541122],[-38.0149792212,0.0000000000,6.7556172079],[-0.0000000000,-25.9450623365,5.7443827921],[-0.0000000000,-32.3823254323,2.8183541122],[-0.0000000000,-35.3083541122,9.2556172079]]
             );
@@ -81,25 +90,30 @@ def test_conical_thread_external(self):
                 cylinder($fn=4,h=7.5000000000,r1=29.3732917757,r2=49.3732917757);
                 cylinder($fn=4,h=7.5000000000,r1=20,r2=40);
             }
-        }'''
+        }"""
         self.assertEqualNoWhitespace(expected, actual)
 
     def test_conical_thread_internal(self):
-        actual_obj = thread(outline_pts=self.outline,
-                            inner_rad=20,
-                            rad_2 = 40,
-                            pitch=self.tooth_height,
-                            length=0.75 * self.tooth_height,
-                            segments_per_rot=SEGMENTS,
-                            neck_in_degrees=45,
-                            neck_out_degrees=45,
-                            external=False)
+        actual_obj = thread(
+            outline_pts=self.outline,
+            inner_rad=20,
+            rad_2=40,
+            pitch=self.tooth_height,
+            length=0.75 * self.tooth_height,
+            segments_per_rot=SEGMENTS,
+            neck_in_degrees=45,
+            neck_out_degrees=45,
+            external=False,
+        )
         actual = scad_render(actual_obj)
-        expected = '''intersection(){
+        expected = """intersection(){
             polyhedron(
+                convexity=2,
                 faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[0,5,2],[0,3,5],[3,4,6],[4,7,6],[4,5,7],[5,8,7],[3,8,5],[3,6,8],[6,7,9],[7,10,9],[7,8,10],[8,11,10],[6,11,8],[6,9,11],[0,2,1],[9,10,11]],
-            points=[[34.0549376635,0.0000000000,1.7556172079],[27.6176745677,0.0000000000,4.6816458878],[24.6916458878,0.0000000000,-1.7556172079],[0.0000000000,31.3483125545,4.2556172079],[0.0000000000,24.9110494587,7.1816458878],[0.0000000000,21.9850207788,0.7443827921],[-38.0149792212,0.0000000000,6.7556172079],[-31.5777161254,0.0000000000,9.6816458878],[-28.6516874455,0.0000000000,3.2443827921],[-0.0000000000,-54.0549376635,9.2556172079],[-0.0000000000,-47.6176745677,12.1816458878],[-0.0000000000,-44.6916458878,5.7443827921]]
-            );cylinder($fn=4,h=7.5000000000,r1=20,r2=40);}'''
+                points=[[34.0549376635,0.0000000000,1.7556172079],[27.6176745677,0.0000000000,4.6816458878],[24.6916458878,0.0000000000,-1.7556172079],[0.0000000000,31.3483125545,4.2556172079],[0.0000000000,24.9110494587,7.1816458878],[0.0000000000,21.9850207788,0.7443827921],[-38.0149792212,0.0000000000,6.7556172079],[-31.5777161254,0.0000000000,9.6816458878],[-28.6516874455,0.0000000000,3.2443827921],[-0.0000000000,-54.0549376635,9.2556172079],[-0.0000000000,-47.6176745677,12.1816458878],[-0.0000000000,-44.6916458878,5.7443827921]]
+            );
+            cylinder($fn=4,h=7.5000000000,r1=20,r2=40);
+        }"""
         self.assertEqualNoWhitespace(expected, actual)
 
     def test_default_thread_section(self):
@@ -110,16 +124,19 @@ def test_default_thread_section(self):
     def test_neck_in_out_degrees(self):
         # Non-specified neck_in_degrees and neck_out_degrees would crash prior
         # to the fix for https://github.com/SolidCode/SolidPython/issues/92
-        actual_obj = thread(outline_pts=self.outline,
-                            inner_rad=20,
-                            pitch=self.tooth_height,
-                            length=0.75 * self.tooth_height,
-                            segments_per_rot=SEGMENTS,
-                            neck_in_degrees=45,
-                            neck_out_degrees=0)
+        actual_obj = thread(
+            outline_pts=self.outline,
+            inner_rad=20,
+            pitch=self.tooth_height,
+            length=0.75 * self.tooth_height,
+            segments_per_rot=SEGMENTS,
+            neck_in_degrees=45,
+            neck_out_degrees=0,
+        )
         actual = scad_render(actual_obj)
-        expected = '''intersection(){
+        expected = """intersection(){
             polyhedron(
+                convexity=2,
                 faces=[[0,1,3],[1,4,3],[1,2,4],[2,5,4],[0,5,2],[0,3,5],[3,4,6],[4,7,6],[4,5,7],[5,8,7],[3,8,5],[3,6,8],[6,7,9],[7,10,9],[7,8,10],[8,11,10],[6,11,8],[6,9,11],[0,2,1],[9,10,11]],
                 points=[[14.9900000000,0.0000000000,-5.0000000000],[19.9900000000,0.0000000000,0.0000000000],[14.9900000000,0.0000000000,5.0000000000],[0.0000000000,20.0000000000,-2.5000000000],[0.0000000000,25.0000000000,2.5000000000],[0.0000000000,20.0000000000,7.5000000000],[-20.0000000000,0.0000000000,0.0000000000],[-25.0000000000,0.0000000000,5.0000000000],[-20.0000000000,0.0000000000,10.0000000000],[-0.0000000000,-20.0000000000,2.5000000000],[-0.0000000000,-25.0000000000,7.5000000000],[-0.0000000000,-20.0000000000,12.5000000000]]
             );
@@ -127,9 +144,9 @@ def test_neck_in_out_degrees(self):
                 cylinder($fn=4,h=7.5000000000,r1=25.0100000000,r2=25.0100000000);
                 cylinder($fn=4,h=7.5000000000,r1=20,r2=20);
             }
-        }'''
+        }"""
         self.assertEqualNoWhitespace(expected, actual)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     unittest.main()
diff --git a/solid/test/test_solidpython.py b/solid/test/test_solidpython.py
index dce2513a..3e2e1bf2 100755
--- a/solid/test/test_solidpython.py
+++ b/solid/test/test_solidpython.py
@@ -6,50 +6,309 @@
 
 from solid.objects import background, circle, cube, cylinder, debug, disable
 from solid.objects import hole, import_scad, include, part, root, rotate, sphere
-from solid.objects import square, translate, use, color, difference, hull
-from solid.objects import import_, intersection, intersection_for, linear_extrude, import_dxf
-from solid.objects import import_stl, minkowski, mirror, multmatrix, offset, polygon
-from solid.objects import polyhedron, projection, render, resize, rotate_extrude
-from solid.objects import scale, surface, union
-
-from solid.solidpython import scad_render, scad_render_animated_file, scad_render_to_file
+from solid.objects import square, translate, use, color, polygon
+
+# NOTE: the following impports aren't explicitly tested
+# from solid.objects import difference, hull
+# from solid.objects import (
+#     import_,
+#     intersection,
+#     intersection_for,
+#     linear_extrude,
+#     import_dxf,
+# )
+# from solid.objects import import_stl, minkowski, mirror, multmatrix, offset, polygon
+# from solid.objects import polyhedron, projection, render, resize, rotate_extrude
+# from solid.objects import scale, surface, union
+
+from solid.solidpython import (
+    scad_render,
+    scad_render_animated_file,
+    scad_render_to_file,
+)
 from solid.test.ExpandedTestCase import DiffOutput
 
 scad_test_case_templates = [
-    {'name': 'polygon', 'kwargs': {'paths': [[0, 1, 2]]}, 'expected': '\n\npolygon(paths = [[0, 1, 2]], points = [[0, 0, 0], [1, 0, 0], [0, 1, 0]]);', 'args': {'points': [[0, 0, 0], [1, 0, 0], [0, 1, 0]]}, },
-    {'name': 'circle', 'kwargs': {'segments': 12, 'r': 1}, 'expected': '\n\ncircle($fn = 12, r = 1);', 'args': {}, },
-    {'name': 'circle', 'kwargs': {'segments': 12, 'd': 1}, 'expected': '\n\ncircle($fn = 12, d = 1);', 'args': {}, },
-    {'name': 'square', 'kwargs': {'center': False, 'size': 1}, 'expected': '\n\nsquare(center = false, size = 1);', 'args': {}, },
-    {'name': 'sphere', 'kwargs': {'segments': 12, 'r': 1}, 'expected': '\n\nsphere($fn = 12, r = 1);', 'args': {}, },
-    {'name': 'sphere', 'kwargs': {'segments': 12, 'd': 1}, 'expected': '\n\nsphere($fn = 12, d = 1);', 'args': {}, },
-    {'name': 'cube', 'kwargs': {'center': False, 'size': 1}, 'expected': '\n\ncube(center = false, size = 1);', 'args': {}, },
-    {'name': 'cylinder', 'kwargs': {'r1': None, 'r2': None, 'h': 1, 'segments': 12, 'r': 1, 'center': False}, 'expected': '\n\ncylinder($fn = 12, center = false, h = 1, r = 1);', 'args': {}, },
-    {'name': 'cylinder', 'kwargs': {'d1': 4, 'd2': 2, 'h': 1, 'segments': 12, 'center': False}, 'expected': '\n\ncylinder($fn = 12, center = false, d1 = 4, d2 = 2, h = 1);', 'args': {}, },
-    {'name': 'polyhedron', 'kwargs': {'convexity': None}, 'expected': '\n\npolyhedron(faces = [[0, 1, 2]], points = [[0, 0, 0], [1, 0, 0], [0, 1, 0]]);', 'args': {'points': [[0, 0, 0], [1, 0, 0], [0, 1, 0]], 'faces': [[0, 1, 2]]}, },
-    {'name': 'union', 'kwargs': {}, 'expected': '\n\nunion();', 'args': {}, },
-    {'name': 'intersection', 'kwargs': {}, 'expected': '\n\nintersection();', 'args': {}, },
-    {'name': 'difference', 'kwargs': {}, 'expected': '\n\ndifference();', 'args': {}, },
-    {'name': 'translate', 'kwargs': {'v': [1, 0, 0]}, 'expected': '\n\ntranslate(v = [1, 0, 0]);', 'args': {}, },
-    {'name': 'scale', 'kwargs': {'v': 0.5}, 'expected': '\n\nscale(v = 0.5000000000);', 'args': {}, },
-    {'name': 'rotate', 'kwargs': {'a': 45, 'v': [0, 0, 1]}, 'expected': '\n\nrotate(a = 45, v = [0, 0, 1]);', 'args': {}, },
-    {'name': 'mirror', 'kwargs': {}, 'expected': '\n\nmirror(v = [0, 0, 1]);', 'args': {'v': [0, 0, 1]}, },
-    {'name': 'resize', 'kwargs': {'newsize': [5, 5, 5], 'auto': [True, True, False]}, 'expected': '\n\nresize(auto = [true, true, false], newsize = [5, 5, 5]);', 'args': {}, },
-    {'name': 'multmatrix', 'kwargs': {}, 'expected': '\n\nmultmatrix(m = [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]);', 'args': {'m': [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]}, },
-    {'name': 'color', 'kwargs': {}, 'expected': '\n\ncolor(c = [1, 0, 0]);', 'args': {'c': [1, 0, 0]}, },
-    {'name': 'minkowski', 'kwargs': {}, 'expected': '\n\nminkowski();', 'args': {}, },
-    {'name': 'offset', 'kwargs': {'r': 1}, 'expected': '\n\noffset(r = 1);', 'args': {}, },
-    {'name': 'offset', 'kwargs': {'delta': 1}, 'expected': '\n\noffset(chamfer = false, delta = 1);', 'args': {}, },
-    {'name': 'hull', 'kwargs': {}, 'expected': '\n\nhull();', 'args': {}, },
-    {'name': 'render', 'kwargs': {'convexity': None}, 'expected': '\n\nrender();', 'args': {}, },
-    {'name': 'projection', 'kwargs': {'cut': None}, 'expected': '\n\nprojection();', 'args': {}, },
-    {'name': 'surface', 'kwargs': {'center': False, 'convexity': None}, 'expected': '\n\nsurface(center = false, file = "/Path/to/dummy.dxf");', 'args': {'file': "'/Path/to/dummy.dxf'"}, },
-    {'name': 'import_stl', 'kwargs': {'layer': None, 'origin': (0, 0)}, 'expected': '\n\nimport(file = "/Path/to/dummy.stl", origin = [0, 0]);', 'args': {'file': "'/Path/to/dummy.stl'"}, },
-    {'name': 'import_dxf', 'kwargs': {'layer': None, 'origin': (0, 0)}, 'expected': '\n\nimport(file = "/Path/to/dummy.dxf", origin = [0, 0]);', 'args': {'file': "'/Path/to/dummy.dxf'"}, },
-    {'name': 'import_', 'kwargs': {'layer': None, 'origin': (0, 0)}, 'expected': '\n\nimport(file = "/Path/to/dummy.dxf", origin = [0, 0]);', 'args': {'file': "'/Path/to/dummy.dxf'"}, },
-    {'name': 'import_', 'kwargs': {'layer': None, 'origin': (0, 0), 'convexity': 2}, 'expected': '\n\nimport(convexity = 2, file = "/Path/to/dummy.dxf", origin = [0, 0]);', 'args': {'file': "'/Path/to/dummy.dxf'"}, },
-    {'name': 'linear_extrude', 'kwargs': {'twist': None, 'slices': None, 'center': False, 'convexity': None, 'height': 1, 'scale': 0.9}, 'expected': '\n\nlinear_extrude(center = false, height = 1, scale = 0.9000000000);', 'args': {}, },
-    {'name': 'rotate_extrude', 'kwargs': {'angle': 90, 'segments': 4, 'convexity': None}, 'expected': '\n\nrotate_extrude($fn = 4, angle = 90);', 'args': {}, },
-    {'name': 'intersection_for', 'kwargs': {}, 'expected': '\n\nintersection_for(n = [0, 1, 2]);', 'args': {'n': [0, 1, 2]}, },
+    {
+        "name": "polygon",
+        "class": "polygon",
+        "kwargs": {"paths": [[0, 1, 2]]},
+        "expected": "\n\npolygon(paths = [[0, 1, 2]], points = [[0, 0], [1, 0], [0, 1]]);",
+        "args": {"points": [[0, 0, 0], [1, 0, 0], [0, 1, 0]]},
+    },
+    {
+        "name": "polygon",
+        "class": "polygon",
+        "kwargs": {},
+        "expected": "\n\npolygon(points = [[0, 0], [1, 0], [0, 1]]);",
+        "args": {"points": [[0, 0, 0], [1, 0, 0], [0, 1, 0]]},
+    },
+    {
+        "name": "polygon",
+        "class": "polygon",
+        "kwargs": {},
+        "expected": "\n\npolygon(convexity = 3, points = [[0, 0], [1, 0], [0, 1]]);",
+        "args": {"points": [[0, 0, 0], [1, 0, 0], [0, 1, 0]], "convexity": 3},
+    },
+    {
+        "name": "circle",
+        "class": "circle",
+        "kwargs": {"segments": 12, "r": 1},
+        "expected": "\n\ncircle($fn = 12, r = 1);",
+        "args": {},
+    },
+    {
+        "name": "circle_diam",
+        "class": "circle",
+        "kwargs": {"segments": 12, "d": 1},
+        "expected": "\n\ncircle($fn = 12, d = 1);",
+        "args": {},
+    },
+    {
+        "name": "square",
+        "class": "square",
+        "kwargs": {"center": False, "size": 1},
+        "expected": "\n\nsquare(center = false, size = 1);",
+        "args": {},
+    },
+    {
+        "name": "sphere",
+        "class": "sphere",
+        "kwargs": {"segments": 12, "r": 1},
+        "expected": "\n\nsphere($fn = 12, r = 1);",
+        "args": {},
+    },
+    {
+        "name": "sphere_diam",
+        "class": "sphere",
+        "kwargs": {"segments": 12, "d": 1},
+        "expected": "\n\nsphere($fn = 12, d = 1);",
+        "args": {},
+    },
+    {
+        "name": "cube",
+        "class": "cube",
+        "kwargs": {"center": False, "size": 1},
+        "expected": "\n\ncube(center = false, size = 1);",
+        "args": {},
+    },
+    {
+        "name": "cylinder",
+        "class": "cylinder",
+        "kwargs": {
+            "r1": None,
+            "r2": None,
+            "h": 1,
+            "segments": 12,
+            "r": 1,
+            "center": False,
+        },
+        "expected": "\n\ncylinder($fn = 12, center = false, h = 1, r = 1);",
+        "args": {},
+    },
+    {
+        "name": "cylinder_d1d2",
+        "class": "cylinder",
+        "kwargs": {"d1": 4, "d2": 2, "h": 1, "segments": 12, "center": False},
+        "expected": "\n\ncylinder($fn = 12, center = false, d1 = 4, d2 = 2, h = 1);",
+        "args": {},
+    },
+    {
+        "name": "polyhedron",
+        "class": "polyhedron",
+        "kwargs": {"convexity": None},
+        "expected": "\n\npolyhedron(faces = [[0, 1, 2]], points = [[0, 0, 0], [1, 0, 0], [0, 1, 0]]);",
+        "args": {"points": [[0, 0, 0], [1, 0, 0], [0, 1, 0]], "faces": [[0, 1, 2]]},
+    },
+    {
+        "name": "polyhedron_default_convexity",
+        "class": "polyhedron",
+        "kwargs": {},
+        "expected": "\n\npolyhedron(convexity = 10, faces = [[0, 1, 2]], points = [[0, 0, 0], [1, 0, 0], [0, 1, 0]]);",
+        "args": {"points": [[0, 0, 0], [1, 0, 0], [0, 1, 0]], "faces": [[0, 1, 2]]},
+    },
+    {
+        "name": "union",
+        "class": "union",
+        "kwargs": {},
+        "expected": "\n\nunion();",
+        "args": {},
+    },
+    {
+        "name": "intersection",
+        "class": "intersection",
+        "kwargs": {},
+        "expected": "\n\nintersection();",
+        "args": {},
+    },
+    {
+        "name": "difference",
+        "class": "difference",
+        "kwargs": {},
+        "expected": "\n\ndifference();",
+        "args": {},
+    },
+    {
+        "name": "translate",
+        "class": "translate",
+        "kwargs": {"v": [1, 0, 0]},
+        "expected": "\n\ntranslate(v = [1, 0, 0]);",
+        "args": {},
+    },
+    {
+        "name": "scale",
+        "class": "scale",
+        "kwargs": {"v": 0.5},
+        "expected": "\n\nscale(v = 0.5000000000);",
+        "args": {},
+    },
+    {
+        "name": "rotate",
+        "class": "rotate",
+        "kwargs": {"a": 45, "v": [0, 0, 1]},
+        "expected": "\n\nrotate(a = 45, v = [0, 0, 1]);",
+        "args": {},
+    },
+    {
+        "name": "mirror",
+        "class": "mirror",
+        "kwargs": {},
+        "expected": "\n\nmirror(v = [0, 0, 1]);",
+        "args": {"v": [0, 0, 1]},
+    },
+    {
+        "name": "resize",
+        "class": "resize",
+        "kwargs": {"newsize": [5, 5, 5], "auto": [True, True, False]},
+        "expected": "\n\nresize(auto = [true, true, false], newsize = [5, 5, 5]);",
+        "args": {},
+    },
+    {
+        "name": "multmatrix",
+        "class": "multmatrix",
+        "kwargs": {},
+        "expected": "\n\nmultmatrix(m = [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]);",
+        "args": {"m": [[1, 0, 0, 0], [0, 1, 0, 0], [0, 0, 1, 0], [0, 0, 0, 1]]},
+    },
+    {
+        "name": "minkowski",
+        "class": "minkowski",
+        "kwargs": {},
+        "expected": "\n\nminkowski();",
+        "args": {},
+    },
+    {
+        "name": "offset",
+        "class": "offset",
+        "kwargs": {"r": 1},
+        "expected": "\n\noffset(r = 1);",
+        "args": {},
+    },
+    {
+        "name": "offset_segments",
+        "class": "offset",
+        "kwargs": {"r": 1, "segments": 12},
+        "expected": "\n\noffset($fn = 12, r = 1);",
+        "args": {},
+    },
+    {
+        "name": "offset_chamfer",
+        "class": "offset",
+        "kwargs": {"delta": 1},
+        "expected": "\n\noffset(chamfer = false, delta = 1);",
+        "args": {},
+    },
+    {
+        "name": "offset_zero_delta",
+        "class": "offset",
+        "kwargs": {"r": 0},
+        "expected": "\n\noffset(r = 0);",
+        "args": {},
+    },
+    {
+        "name": "hull",
+        "class": "hull",
+        "kwargs": {},
+        "expected": "\n\nhull();",
+        "args": {},
+    },
+    {
+        "name": "render",
+        "class": "render",
+        "kwargs": {"convexity": None},
+        "expected": "\n\nrender();",
+        "args": {},
+    },
+    {
+        "name": "projection",
+        "class": "projection",
+        "kwargs": {"cut": None},
+        "expected": "\n\nprojection();",
+        "args": {},
+    },
+    {
+        "name": "surface",
+        "class": "surface",
+        "kwargs": {"center": False, "convexity": None},
+        "expected": '\n\nsurface(center = false, file = "/Path/to/dummy.dxf");',
+        "args": {"file": "'/Path/to/dummy.dxf'"},
+    },
+    {
+        "name": "import_stl",
+        "class": "import_stl",
+        "kwargs": {"layer": None, "origin": (0, 0)},
+        "expected": '\n\nimport(file = "/Path/to/dummy.stl", origin = [0, 0]);',
+        "args": {"file": "'/Path/to/dummy.stl'"},
+    },
+    {
+        "name": "import_dxf",
+        "class": "import_dxf",
+        "kwargs": {"layer": None, "origin": (0, 0)},
+        "expected": '\n\nimport(file = "/Path/to/dummy.dxf", origin = [0, 0]);',
+        "args": {"file": "'/Path/to/dummy.dxf'"},
+    },
+    {
+        "name": "import_",
+        "class": "import_",
+        "kwargs": {"layer": None, "origin": (0, 0)},
+        "expected": '\n\nimport(file = "/Path/to/dummy.dxf", origin = [0, 0]);',
+        "args": {"file": "'/Path/to/dummy.dxf'"},
+    },
+    {
+        "name": "import__convexity",
+        "class": "import_",
+        "kwargs": {"layer": None, "origin": (0, 0), "convexity": 2},
+        "expected": '\n\nimport(convexity = 2, file = "/Path/to/dummy.dxf", origin = [0, 0]);',
+        "args": {"file": "'/Path/to/dummy.dxf'"},
+    },
+    {
+        "name": "linear_extrude",
+        "class": "linear_extrude",
+        "kwargs": {
+            "twist": None,
+            "slices": None,
+            "center": False,
+            "convexity": None,
+            "height": 1,
+            "scale": 0.9,
+        },
+        "expected": "\n\nlinear_extrude(center = false, height = 1, scale = 0.9000000000);",
+        "args": {},
+    },
+    {
+        "name": "rotate_extrude",
+        "class": "rotate_extrude",
+        "kwargs": {"angle": 90, "segments": 4, "convexity": None},
+        "expected": "\n\nrotate_extrude($fn = 4, angle = 90);",
+        "args": {},
+    },
+    {
+        "name": "intersection_for",
+        "class": "intersection_for",
+        "kwargs": {},
+        "expected": "\n\nintersection_for(n = [0, 1, 2]);",
+        "args": {"n": [0, 1, 2]},
+    },
 ]
 
 
@@ -69,7 +328,7 @@ def __enter__(self):
 
     def __exit__(self, exc_type, exc_val, exc_tb):
         try:
-            with open(self.name, 'r') as f:
+            with open(self.name, "r") as f:
                 self.contents = f.read()
         finally:
             self._cleanup()
@@ -77,7 +336,7 @@ def __exit__(self, exc_type, exc_val, exc_tb):
     def _cleanup(self):
         try:
             os.unlink(self.name)
-        except:
+        except Exception:
             pass
 
 
@@ -91,27 +350,27 @@ def expand_scad_path(self, filename):
     def test_infix_union(self):
         a = cube(2)
         b = sphere(2)
-        expected = '\n\nunion() {\n\tcube(size = 2);\n\tsphere(r = 2);\n}'
+        expected = "\n\nunion() {\n\tcube(size = 2);\n\tsphere(r = 2);\n}"
         actual = scad_render(a + b)
         self.assertEqual(expected, actual)
 
     def test_infix_difference(self):
         a = cube(2)
         b = sphere(2)
-        expected = '\n\ndifference() {\n\tcube(size = 2);\n\tsphere(r = 2);\n}'
+        expected = "\n\ndifference() {\n\tcube(size = 2);\n\tsphere(r = 2);\n}"
         actual = scad_render(a - b)
         self.assertEqual(expected, actual)
 
     def test_infix_intersection(self):
         a = cube(2)
         b = sphere(2)
-        expected = '\n\nintersection() {\n\tcube(size = 2);\n\tsphere(r = 2);\n}'
+        expected = "\n\nintersection() {\n\tcube(size = 2);\n\tsphere(r = 2);\n}"
         actual = scad_render(a * b)
         self.assertEqual(expected, actual)
 
     def test_parse_scad_callables(self):
         test_str = """
-                    module hex (width=10, height=10,    
+                    module hex (width=10, height=10,
                                 flats= true, center=false){}
                     function righty (angle=90) = 1;
                     function lefty(avar) = 2;
@@ -132,55 +391,110 @@ def test_parse_scad_callables(self):
                     module var_number(var_number = -5e89){}
                     module var_empty_vector(var_empty_vector = []){}
                     module var_simple_string(var_simple_string = "simple string"){}
-                    module var_complex_string(var_complex_string = "a \"complex\"\tstring with a\\"){}
+                    module var_complex_string(var_complex_string = "a \\"complex\\"\\tstring with a\\\\"){}
                     module var_vector(var_vector = [5454445, 565, [44545]]){}
                     module var_complex_vector(var_complex_vector = [545 + 4445, 565, [cos(75) + len("yes", 45)]]){}
-                    module var_vector(var_vector = [5, 6, "string\twith\ttab"]){}
+                    module var_vector(var_vector = [5, 6, "string\\twith\\ttab"]){}
                     module var_range(var_range = [0:10e10]){}
                     module var_range_step(var_range_step = [-10:0.5:10]){}
                     module var_with_arithmetic(var_with_arithmetic = 8 * 9 - 1 + 89 / 15){}
                     module var_with_parentheses(var_with_parentheses = 8 * ((9 - 1) + 89) / 15){}
-                    module var_with_functions(var_with_functions = abs(min(chamferHeight2, 0)) */-+ 1){}
-                    module var_with_conditionnal_assignment(var_with_conditionnal_assignment = mytest ? 45 : yop){}
+                    module var_with_functions(var_with_functions = abs(min(chamferHeight2, 0)) / 1){}
+                    module var_with_conditional_assignment(var_with_conditional_assignment = mytest ? 45 : yop){}
+
                    """
+
+        scad_file = ""
+        with tempfile.NamedTemporaryFile(suffix=".scad", delete=False) as f:
+            f.write(test_str.encode("utf-8"))
+            scad_file = f.name
+
         expected = [
-            {'name': 'hex', 'args': [], 'kwargs': ['width', 'height', 'flats', 'center']},
-            {'name': 'righty', 'args': [], 'kwargs': ['angle']},
-            {'name': 'lefty', 'args': ['avar'], 'kwargs': []},
-            {'name': 'more', 'args': [], 'kwargs': ['a']},
-            {'name': 'pyramid', 'args': [], 'kwargs': ['side', 'height', 'square', 'centerHorizontal', 'centerVertical']},
-            {'name': 'no_comments', 'args': [], 'kwargs': ['arg', 'other_arg', 'last_arg']},
-            {'name': 'float_arg', 'args': [], 'kwargs': ['arg']},
-            {'name': 'arg_var', 'args': ['var5'], 'kwargs': []},
-            {'name': 'kwarg_var', 'args': [], 'kwargs': ['var2']},
-            {'name': 'var_true', 'args': [], 'kwargs': ['var_true']},
-            {'name': 'var_false', 'args': [], 'kwargs': ['var_false']},
-            {'name': 'var_int', 'args': [], 'kwargs': ['var_int']},
-            {'name': 'var_negative', 'args': [], 'kwargs': ['var_negative']},
-            {'name': 'var_float', 'args': [], 'kwargs': ['var_float']},
-            {'name': 'var_number', 'args': [], 'kwargs': ['var_number']},
-            {'name': 'var_empty_vector', 'args': [], 'kwargs': ['var_empty_vector']},
-            {'name': 'var_simple_string', 'args': [], 'kwargs': ['var_simple_string']},
-            {'name': 'var_complex_string', 'args': [], 'kwargs': ['var_complex_string']},
-            {'name': 'var_vector', 'args': [], 'kwargs': ['var_vector']},
-            {'name': 'var_complex_vector', 'args': [], 'kwargs': ['var_complex_vector']},
-            {'name': 'var_vector', 'args': [], 'kwargs': ['var_vector']},
-            {'name': 'var_range', 'args': [], 'kwargs': ['var_range']},
-            {'name': 'var_range_step', 'args': [], 'kwargs': ['var_range_step']},
-            {'name': 'var_with_arithmetic', 'args': [], 'kwargs': ['var_with_arithmetic']},
-            {'name': 'var_with_parentheses', 'args': [], 'kwargs': ['var_with_parentheses']},
-            {'name': 'var_with_functions', 'args': [], 'kwargs': ['var_with_functions']},
-            {'name': 'var_with_conditionnal_assignment', 'args': [], 'kwargs': ['var_with_conditionnal_assignment']}
+            {
+                "name": "hex",
+                "args": [],
+                "kwargs": ["width", "height", "flats", "center"],
+            },
+            {"name": "righty", "args": [], "kwargs": ["angle"]},
+            {"name": "lefty", "args": [], "kwargs": ["avar"]},
+            {"name": "more", "args": [], "kwargs": ["a"]},
+            {
+                "name": "pyramid",
+                "args": [],
+                "kwargs": [
+                    "side",
+                    "height",
+                    "square",
+                    "centerHorizontal",
+                    "centerVertical",
+                ],
+            },
+            {
+                "name": "no_comments",
+                "args": [],
+                "kwargs": ["arg", "other_arg", "last_arg"],
+            },
+            {"name": "float_arg", "args": [], "kwargs": ["arg"]},
+            {"name": "arg_var", "args": [], "kwargs": ["var5"]},
+            {"name": "kwarg_var", "args": [], "kwargs": ["var2"]},
+            {"name": "var_true", "args": [], "kwargs": ["var_true"]},
+            {"name": "var_false", "args": [], "kwargs": ["var_false"]},
+            {"name": "var_int", "args": [], "kwargs": ["var_int"]},
+            {"name": "var_negative", "args": [], "kwargs": ["var_negative"]},
+            {"name": "var_float", "args": [], "kwargs": ["var_float"]},
+            {"name": "var_number", "args": [], "kwargs": ["var_number"]},
+            {"name": "var_empty_vector", "args": [], "kwargs": ["var_empty_vector"]},
+            {"name": "var_simple_string", "args": [], "kwargs": ["var_simple_string"]},
+            {
+                "name": "var_complex_string",
+                "args": [],
+                "kwargs": ["var_complex_string"],
+            },
+            {"name": "var_vector", "args": [], "kwargs": ["var_vector"]},
+            {
+                "name": "var_complex_vector",
+                "args": [],
+                "kwargs": ["var_complex_vector"],
+            },
+            {"name": "var_vector", "args": [], "kwargs": ["var_vector"]},
+            {"name": "var_range", "args": [], "kwargs": ["var_range"]},
+            {"name": "var_range_step", "args": [], "kwargs": ["var_range_step"]},
+            {
+                "name": "var_with_arithmetic",
+                "args": [],
+                "kwargs": ["var_with_arithmetic"],
+            },
+            {
+                "name": "var_with_parentheses",
+                "args": [],
+                "kwargs": ["var_with_parentheses"],
+            },
+            {
+                "name": "var_with_functions",
+                "args": [],
+                "kwargs": ["var_with_functions"],
+            },
+            {
+                "name": "var_with_conditional_assignment",
+                "args": [],
+                "kwargs": ["var_with_conditional_assignment"],
+            },
         ]
 
         from solid.solidpython import parse_scad_callables
-        actual = parse_scad_callables(test_str)
-        self.assertEqual(expected, actual)
+
+        actual = parse_scad_callables(scad_file)
+
+        for e in expected:
+            self.assertEqual(e in actual, True)
+
+        os.unlink(scad_file)
 
     def test_use(self):
         include_file = self.expand_scad_path("examples/scad_to_include.scad")
         use(include_file)
-        a = steps(3)
+
+        a = steps(3)  # type: ignore # noqa: F821
         actual = scad_render(a)
 
         abs_path = a._get_include_path(include_file)
@@ -198,13 +512,81 @@ def test_import_scad(self):
         self.assertEqual(expected, actual)
 
         # Make sure this plays nicely with `scad_render()`'s `file_header` arg
-        header = '$fn = 24;'
+        header = "$fn = 24;"
         actual = scad_render(a, file_header=header)
         expected = f"{header}\nuse <{abs_path}>\n\n\nsteps(howmany = 3);"
         self.assertEqual(expected, actual)
 
+        # Confirm that we can leave out even non-default arguments in OpenSCAD
+        a = mod.optional_nondefault_arg()
+        actual = scad_render(a)
+        expected = f"use <{abs_path}>\n\n\noptional_nondefault_arg();"
+        self.assertEqual(expected, actual)
+        # Make sure we throw ValueError on nonexistent imports
+        self.assertRaises(ValueError, import_scad, "path/doesnt/exist.scad")
+
+        # Test that we recursively import directories correctly
+        examples = import_scad(include_file.parent)
+        self.assertTrue(hasattr(examples, "scad_to_include"))
+        self.assertTrue(hasattr(examples.scad_to_include, "steps"))
+
+        # Test that:
+        # A) scad files in the designated OpenSCAD library directories
+        #       (path-dependent, see: solid.objects._openscad_library_paths())
+        #       are imported correctly.
+        # B) scad files in the designated app-install library directories
+        from solid import objects
+
+        lib_dirs = objects._openscad_library_paths()
+        for i, ld in enumerate(lib_dirs):
+            if ld.as_posix() == ".":
+                continue
+            if not ld.exists():
+                continue
+            temp_dirname = f"test_{i}"
+            d = ld / temp_dirname
+            try:
+                d.mkdir(exist_ok=True)
+            except PermissionError:
+                # We won't always have permissions to write to the library directory.
+                # In that case, skip this test.
+                continue
+            p = d / "scad_to_include.scad"
+            p.write_text(include_file.read_text())
+            temp_file_str = f"{temp_dirname}/scad_to_include.scad"
+
+            mod = import_scad(temp_file_str)
+            a = mod.steps(3)
+            actual = scad_render(a)
+            expected = f"use <{p.absolute()}>\n\n\nsteps(howmany = 3);"
+            self.assertEqual(
+                actual, expected, f"Unexpected file contents at {p} for dir: {ld}"
+            )
+
+            # remove generated file and directories
+            p.unlink()
+            d.rmdir()
+
+    def test_multiple_import_scad(self):
+        # For Issue #172. Originally, multiple `import_scad()` calls would
+        # re-import the entire module, rather than cache a module after one use
+        include_file = self.expand_scad_path("examples/scad_to_include.scad")
+        mod1 = import_scad(include_file)
+        mod2 = import_scad(include_file)
+        self.assertEqual(mod1, mod2)
+
+    def test_imported_scad_arguments(self):
+        include_file = self.expand_scad_path("examples/scad_to_include.scad")
+        mod = import_scad(include_file)
+        points = mod.scad_points()
+        poly = polygon(points)
+        actual = scad_render(poly)
+        abs_path = points._get_include_path(include_file)
+        expected = f"use <{abs_path}>\n\n\npolygon(points = scad_points());"
+        self.assertEqual(expected, actual)
+
     def test_use_reserved_words(self):
-        scad_str = '''module reserved_word_arg(or=3){\n\tcube(or);\n}\nmodule or(arg=3){\n\tcube(arg);\n}\n'''
+        scad_str = """module reserved_word_arg(or=3){\n\tcube(or);\n}\nmodule or(arg=3){\n\tcube(arg);\n}\n"""
 
         fd, path = tempfile.mkstemp(text=True)
         try:
@@ -213,12 +595,12 @@ def test_use_reserved_words(self):
                 f.write(scad_str)
 
             use(path)
-            a = reserved_word_arg(or_=5)
+            a = reserved_word_arg(or_=5)  # type: ignore # noqa: F821
             actual = scad_render(a)
             expected = f"use <{path}>\n\n\nreserved_word_arg(or = 5);"
             self.assertEqual(expected, actual)
 
-            b = or_(arg=5)
+            b = or_(arg=5)  # type: ignore # noqa: F821
             actual = scad_render(b)
             expected = f"use <{path}>\n\n\nor(arg = 5);"
             self.assertEqual(expected, actual)
@@ -227,9 +609,9 @@ def test_use_reserved_words(self):
 
     def test_include(self):
         include_file = self.expand_scad_path("examples/scad_to_include.scad")
-        self.assertIsNotNone(include_file, 'examples/scad_to_include.scad not found')
+        self.assertIsNotNone(include_file, "examples/scad_to_include.scad not found")
         include(include_file)
-        a = steps(3)
+        a = steps(3)  # type: ignore # noqa: F821
 
         actual = scad_render(a)
         abs_path = a._get_include_path(include_file)
@@ -248,31 +630,50 @@ def test_extra_args_to_included_scad(self):
 
     def test_background(self):
         a = cube(10)
-        expected = '\n\n%cube(size = 10);'
+        expected = "\n\n%cube(size = 10);"
         actual = scad_render(background(a))
         self.assertEqual(expected, actual)
 
     def test_debug(self):
         a = cube(10)
-        expected = '\n\n#cube(size = 10);'
+        expected = "\n\n#cube(size = 10);"
         actual = scad_render(debug(a))
         self.assertEqual(expected, actual)
 
     def test_disable(self):
         a = cube(10)
-        expected = '\n\n*cube(size = 10);'
+        expected = "\n\n*cube(size = 10);"
         actual = scad_render(disable(a))
         self.assertEqual(expected, actual)
 
     def test_root(self):
         a = cube(10)
-        expected = '\n\n!cube(size = 10);'
+        expected = "\n\n!cube(size = 10);"
         actual = scad_render(root(a))
         self.assertEqual(expected, actual)
 
+    def test_color(self):
+        all_args = [
+            {"c": [1, 0, 0]},
+            {"c": [1, 0, 0], "alpha": 0.5},
+            {"c": "#66F"},
+            {"c": "Teal", "alpha": 0.5},
+        ]
+
+        expecteds = [
+            "\n\ncolor(alpha = 1.0000000000, c = [1, 0, 0]);",
+            "\n\ncolor(alpha = 0.5000000000, c = [1, 0, 0]);",
+            '\n\ncolor(alpha = 1.0000000000, c = "#66F");',
+            '\n\ncolor(alpha = 0.5000000000, c = "Teal");',
+        ]
+        for args, expected in zip(all_args, expecteds):
+            col = color(**args)
+            actual = scad_render(col)
+            self.assertEqual(expected, actual)
+
     def test_explicit_hole(self):
         a = cube(10, center=True) + hole()(cylinder(2, 20, center=True))
-        expected = '\n\ndifference(){\n\tunion() {\n\t\tcube(center = true, size = 10);\n\t}\n\t/* Holes Below*/\n\tunion(){\n\t\tcylinder(center = true, h = 20, r = 2);\n\t} /* End Holes */ \n}'
+        expected = "\n\ndifference(){\n\tunion() {\n\t\tcube(center = true, size = 10);\n\t}\n\t/* Holes Below*/\n\tunion(){\n\t\tcylinder(center = true, h = 20, r = 2);\n\t} /* End Holes */ \n}"
         actual = scad_render(a)
         self.assertEqual(expected, actual)
 
@@ -280,18 +681,12 @@ def test_hole_transform_propagation(self):
         # earlier versions of holes had problems where a hole
         # that was used a couple places wouldn't propagate correctly.
         # Confirm that's still happening as it's supposed to
-        h = hole()(
-                rotate(a=90, v=[0, 1, 0])(
-                        cylinder(2, 20, center=True)
-                )
-        )
+        h = hole()(rotate(a=90, v=[0, 1, 0])(cylinder(2, 20, center=True)))
 
-        h_vert = rotate(a=-90, v=[0, 1, 0])(
-                h
-        )
+        h_vert = rotate(a=-90, v=[0, 1, 0])(h)
 
         a = cube(10, center=True) + h + h_vert
-        expected = '\n\ndifference(){\n\tunion() {\n\t\tcube(center = true, size = 10);\n\t\trotate(a = -90, v = [0, 1, 0]) {\n\t\t}\n\t}\n\t/* Holes Below*/\n\tunion(){\n\t\trotate(a = 90, v = [0, 1, 0]) {\n\t\t\tcylinder(center = true, h = 20, r = 2);\n\t\t}\n\t\trotate(a = -90, v = [0, 1, 0]){\n\t\t\trotate(a = 90, v = [0, 1, 0]) {\n\t\t\t\tcylinder(center = true, h = 20, r = 2);\n\t\t\t}\n\t\t}\n\t} /* End Holes */ \n}'
+        expected = "\n\ndifference(){\n\tunion() {\n\t\tcube(center = true, size = 10);\n\t\trotate(a = -90, v = [0, 1, 0]) {\n\t\t}\n\t}\n\t/* Holes Below*/\n\tunion(){\n\t\trotate(a = 90, v = [0, 1, 0]) {\n\t\t\tcylinder(center = true, h = 20, r = 2);\n\t\t}\n\t\trotate(a = -90, v = [0, 1, 0]){\n\t\t\trotate(a = 90, v = [0, 1, 0]) {\n\t\t\t\tcylinder(center = true, h = 20, r = 2);\n\t\t\t}\n\t\t}\n\t} /* End Holes */ \n}"
         actual = scad_render(a)
         self.assertEqual(expected, actual)
 
@@ -316,13 +711,14 @@ def test_separate_part_hole(self):
 
         a = p1 + p2
 
-        expected = '\n\nunion() {\n\tdifference(){\n\t\tdifference() {\n\t\t\tcube(center = true, size = 10);\n\t\t}\n\t\t/* Holes Below*/\n\t\tunion(){\n\t\t\tcylinder(center = true, h = 12, r = 2);\n\t\t} /* End Holes */ \n\t}\n\tcylinder(center = true, h = 14, r = 1.5000000000);\n}'
+        expected = "\n\nunion() {\n\tdifference(){\n\t\tdifference() {\n\t\t\tcube(center = true, size = 10);\n\t\t}\n\t\t/* Holes Below*/\n\t\tunion(){\n\t\t\tcylinder(center = true, h = 12, r = 2);\n\t\t} /* End Holes */ \n\t}\n\tcylinder(center = true, h = 14, r = 1.5000000000);\n}"
         actual = scad_render(a)
         self.assertEqual(expected, actual)
 
     def test_scad_render_animated_file(self):
         def my_animate(_time=0):
             import math
+
             # _time will range from 0 to 1, not including 1
             rads = _time * 2 * math.pi
             rad = 15
@@ -330,11 +726,16 @@ def my_animate(_time=0):
             return c
 
         with TemporaryFileBuffer() as tmp:
-            scad_render_animated_file(my_animate, steps=2, back_and_forth=False,
-                                      filepath=tmp.name, include_orig_code=False)
+            scad_render_animated_file(
+                my_animate,
+                steps=2,
+                back_and_forth=False,
+                filepath=tmp.name,
+                include_orig_code=False,
+            )
 
         actual = tmp.contents
-        expected = '\nif ($t >= 0.0 && $t < 0.5){   \n\ttranslate(v = [15.0000000000, 0.0000000000]) {\n\t\tsquare(size = 10);\n\t}\n}\nif ($t >= 0.5 && $t < 1.0){   \n\ttranslate(v = [-15.0000000000, 0.0000000000]) {\n\t\tsquare(size = 10);\n\t}\n}\n'
+        expected = "\nif ($t >= 0.0 && $t < 0.5){   \n\ttranslate(v = [15.0000000000, 0.0000000000]) {\n\t\tsquare(size = 10);\n\t}\n}\nif ($t >= 0.5 && $t < 1.0){   \n\ttranslate(v = [-15.0000000000, 0.0000000000]) {\n\t\tsquare(size = 10);\n\t}\n}\n"
 
         self.assertEqual(expected, actual)
 
@@ -346,7 +747,7 @@ def test_scad_render_to_file(self):
             scad_render_to_file(a, filepath=tmp.name, include_orig_code=False)
 
         actual = tmp.contents
-        expected = '\n\ncircle(r = 10);'
+        expected = "\n\ncircle(r = 10);"
 
         # scad_render_to_file also adds a date & version stamp before scad code;
         # That won't match here, so just make sure the correct code is at the end
@@ -354,11 +755,12 @@ def test_scad_render_to_file(self):
 
         # Header
         with TemporaryFileBuffer() as tmp:
-            scad_render_to_file(a, filepath=tmp.name, include_orig_code=False,
-                                file_header='$fn = 24;')
+            scad_render_to_file(
+                a, filepath=tmp.name, include_orig_code=False, file_header="$fn = 24;"
+            )
 
         actual = tmp.contents
-        expected = '$fn = 24;\n\n\ncircle(r = 10);'
+        expected = "$fn = 24;\n\n\ncircle(r = 10);"
 
         self.assertTrue(actual.endswith(expected))
 
@@ -366,14 +768,14 @@ def test_scad_render_to_file(self):
         # Using existing directory
         with TemporaryFileBuffer() as tmp:
             out_dir = Path(tmp.name).parent
-            expected = (out_dir / 'test_solidpython.scad').as_posix()
+            expected = (out_dir / "test_solidpython.scad").as_posix()
             actual = scad_render_to_file(a, out_dir=out_dir)
             self.assertEqual(expected, actual)
 
         # Creating a directory on demand
         with TemporaryFileBuffer() as tmp:
-            out_dir = Path(tmp.name).parent / 'SCAD'
-            expected = (out_dir / 'test_solidpython.scad').as_posix()
+            out_dir = Path(tmp.name).parent / "SCAD"
+            expected = (out_dir / "test_solidpython.scad").as_posix()
             actual = scad_render_to_file(a, out_dir=out_dir)
             self.assertEqual(expected, actual)
 
@@ -382,11 +784,14 @@ def test_scad_render_to_file(self):
 
     def test_numpy_type(self):
         try:
-            import numpy
+            import numpy  # type: ignore
+
             numpy_cube = cube(size=numpy.array([1, 2, 3]))
-            expected = '\n\ncube(size = [1,2,3]);'
+            expected = "\n\ncube(size = [1,2,3]);"
             actual = scad_render(numpy_cube)
-            self.assertEqual(expected, actual, 'Numpy SolidPython not rendered correctly')
+            self.assertEqual(
+                expected, actual, "Numpy SolidPython not rendered correctly"
+            )
         except ImportError:
             pass
 
@@ -397,7 +802,7 @@ class CustomIterable:
             def __iter__(self):
                 return iter([1, 2, 3])
 
-        expected = '\n\ncube(size = [1, 2, 3]);'
+        expected = "\n\ncube(size = [1, 2, 3]);"
         iterables = [
             [1, 2, 3],
             (1, 2, 3),
@@ -408,19 +813,27 @@ def __iter__(self):
         for iterable in iterables:
             name = type(iterable).__name__
             actual = scad_render(cube(size=iterable))
-            self.assertEqual(expected, actual, f'{name} SolidPython not rendered correctly')
+            self.assertEqual(
+                expected, actual, f"{name} SolidPython not rendered correctly"
+            )
 
 
 def single_test(test_dict):
-    name, args, kwargs, expected = test_dict['name'], test_dict['args'], test_dict['kwargs'], test_dict['expected']
+    _, cls, args, kwargs, expected = (
+        test_dict["name"],
+        test_dict["class"],
+        test_dict["args"],
+        test_dict["kwargs"],
+        test_dict["expected"],
+    )
 
     def test(self):
-        call_str = name + "("
+        call_str = cls + "("
         for k, v in args.items():
             call_str += f"{k}={v}, "
         for k, v in kwargs.items():
             call_str += f"{k}={v}, "
-        call_str += ')'
+        call_str += ")"
 
         scad_obj = eval(call_str)
         actual = scad_render(scad_obj)
@@ -437,6 +850,6 @@ def generate_cases_from_templates():
         setattr(TestSolidPython, test_name, test)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     generate_cases_from_templates()
     unittest.main()
diff --git a/solid/test/test_splines.py b/solid/test/test_splines.py
old mode 100644
new mode 100755
index 21fcba41..80b4cc2c
--- a/solid/test/test_splines.py
+++ b/solid/test/test_splines.py
@@ -2,49 +2,136 @@
 
 import unittest
 from solid.test.ExpandedTestCase import DiffOutput
-from solid import *
-from solid.splines import catmull_rom_points, bezier_points
-from euclid3 import Point2, Vector2
+from solid.utils import euclidify
+from solid.splines import catmull_rom_points, catmull_rom_prism, bezier_points
+from euclid3 import Point3, Vector3
+from math import pi
 
 SEGMENTS = 8
 
+
 class TestSplines(DiffOutput):
     def setUp(self):
         self.points = [
-            Point2(0,0),
-            Point2(1,1),
-            Point2(2,1),
+            Point3(0, 0),
+            Point3(1, 1),
+            Point3(2, 1),
+        ]
+        self.points_raw = [
+            (0, 0),
+            (1, 1),
+            (2, 1),
         ]
         self.bezier_controls = [
-            Point2(0,0),
-            Point2(1,1),
-            Point2(2,1),
-            Point2(2,-1),
+            Point3(0, 0),
+            Point3(1, 1),
+            Point3(2, 1),
+            Point3(2, -1),
         ]
+        self.bezier_controls_raw = [(0, 0), (1, 1), (2, 1), (2, -1)]
         self.subdivisions = 2
 
     def assertPointsListsEqual(self, a, b):
-        str_list = lambda x: list(str(v) for v in x)
+        str_list = lambda x: list(str(v) for v in x)  # noqa: E731
         self.assertEqual(str_list(a), str_list(b))
 
     def test_catmull_rom_points(self):
-        expected = [Vector2(0.00, 0.00), Vector2(0.38, 0.44), Vector2(1.00, 1.00), Vector2(1.62, 1.06), Vector2(2.00, 1.00)]
-        actual = catmull_rom_points(self.points, subdivisions=self.subdivisions, close_loop=False)
+        expected = [
+            Point3(0.00, 0.00),
+            Point3(0.38, 0.44),
+            Point3(1.00, 1.00),
+            Point3(1.62, 1.06),
+            Point3(2.00, 1.00),
+        ]
+        actual = catmull_rom_points(
+            self.points, subdivisions=self.subdivisions, close_loop=False
+        )
         self.assertPointsListsEqual(expected, actual)
-        # actual = list((str(v) for v in actual))
-        # expected = list((str(v) for v in expected))
-        # self.assertEqual(expected, actual)
 
         # TODO: verify we always have the right number of points for a given call
-        # verify that `close_loop` always behaves correctly 
-        # verify that catmull_rom_polygon() returns an OpenSCADObject
+        # verify that `close_loop` always behaves correctly
         # verify that start_tangent and end_tangent behavior is correct
 
+    def test_catmull_rom_points_raw(self):
+        # Verify that we can use raw sequences of floats as inputs (e.g [(1,2), (3.2,4)])
+        # rather than sequences of Point2s
+        expected = [
+            Point3(0.00, 0.00),
+            Point3(0.38, 0.44),
+            Point3(1.00, 1.00),
+            Point3(1.62, 1.06),
+            Point3(2.00, 1.00),
+        ]
+        actual = catmull_rom_points(
+            self.points_raw, subdivisions=self.subdivisions, close_loop=False
+        )
+        self.assertPointsListsEqual(expected, actual)
+
+    def test_catmull_rom_points_3d(self):
+        points = [Point3(-1, -1, 0), Point3(0, 0, 1), Point3(1, 1, 0)]
+        expected = [
+            Point3(-1.00, -1.00, 0.00),
+            Point3(-0.62, -0.62, 0.50),
+            Point3(0.00, 0.00, 1.00),
+            Point3(0.62, 0.62, 0.50),
+            Point3(1.00, 1.00, 0.00),
+        ]
+        actual = catmull_rom_points(points, subdivisions=2)
+        self.assertPointsListsEqual(expected, actual)
+
     def test_bezier_points(self):
-        expected = [Point2(0.00, 0.00), Point2(1.38, 0.62), Point2(2.00, -1.00)]
+        expected = [Point3(0.00, 0.00), Point3(1.38, 0.62), Point3(2.00, -1.00)]
         actual = bezier_points(self.bezier_controls, subdivisions=self.subdivisions)
         self.assertPointsListsEqual(expected, actual)
 
+    def test_bezier_points_raw(self):
+        # Verify that we can use raw sequences of floats as inputs (e.g [(1,2), (3.2,4)])
+        # rather than sequences of Point2s
+        expected = [Point3(0.00, 0.00), Point3(1.38, 0.62), Point3(2.00, -1.00)]
+        actual = bezier_points(self.bezier_controls_raw, subdivisions=self.subdivisions)
+        self.assertPointsListsEqual(expected, actual)
+
+    def test_bezier_points_3d(self):
+        # verify that we get a valid bezier curve back even when its control points
+        # are outside the XY plane and aren't coplanar
+        controls_3d = [
+            Point3(-2, -1, 0),
+            Point3(-0.5, -0.5, 1),
+            Point3(0.5, 0.5, 1),
+            Point3(2, 1, 0),
+        ]
+        actual = bezier_points(controls_3d, subdivisions=self.subdivisions)
+        expected = [
+            Point3(-2.00, -1.00, 0.00),
+            Point3(0.00, 0.00, 0.75),
+            Point3(2.00, 1.00, 0.00),
+        ]
+        self.assertPointsListsEqual(expected, actual)
+
+    def test_catmull_rom_prism(self):
+        sides = 3
+        UP = Vector3(0, 0, 1)
+
+        control_points = [[10, 10, 0], [10, 10, 5], [8, 8, 15]]
+
+        cat_tube = []
+        angle_step = 2 * pi / sides
+        for i in range(sides):
+            rotated_controls = list(
+                (
+                    euclidify(p, Point3).rotate_around(UP, angle_step * i)
+                    for p in control_points
+                )
+            )
+            cat_tube.append(rotated_controls)
+
+        poly = catmull_rom_prism(
+            cat_tube, self.subdivisions, closed_ring=True, add_caps=True
+        )
+        actual = (len(poly.params["points"]), len(poly.params["faces"]))
+        expected = (37, 62)
+        self.assertEqual(expected, actual)
+
 
-if __name__ == '__main__':
-    unittest.main()
\ No newline at end of file
+if __name__ == "__main__":
+    unittest.main()
diff --git a/solid/test/test_utils.py b/solid/test/test_utils.py
index 116582bc..89ff7724 100755
--- a/solid/test/test_utils.py
+++ b/solid/test/test_utils.py
@@ -1,57 +1,152 @@
 #! /usr/bin/env python
-import difflib
+from solid.solidpython import OpenSCADObject
 import unittest
-
-from euclid3 import Point3, Vector3
+import re
+from euclid3 import Point3, Vector3, Point2
 
 from solid import scad_render
 from solid.objects import cube, polygon, sphere, translate
 from solid.test.ExpandedTestCase import DiffOutput
-from solid.utils import BoundingBox, arc, arc_inverted, euc_to_arr, euclidify, extrude_along_path, fillet_2d, is_scad, offset_points, split_body_planar, transform_to_point
+from solid.utils import BoundingBox, arc, arc_inverted, euc_to_arr, euclidify
+from solid.utils import fillet_2d, is_scad, offset_points
+from solid.utils import split_body_planar, transform_to_point, project_to_2D
+from solid.utils import path_2d, path_2d_polygon
 from solid.utils import FORWARD_VEC, RIGHT_VEC, UP_VEC
 from solid.utils import back, down, forward, left, right, up
+from solid.utils import label
+
+from typing import Union
 
 tri = [Point3(0, 0, 0), Point3(10, 0, 0), Point3(0, 10, 0)]
-scad_test_cases = [
-    (up, [2], '\n\ntranslate(v = [0, 0, 2]);'),
-    (down, [2], '\n\ntranslate(v = [0, 0, -2]);'),
-    (left, [2], '\n\ntranslate(v = [-2, 0, 0]);'),
-    (right, [2], '\n\ntranslate(v = [2, 0, 0]);'),
-    (forward, [2], '\n\ntranslate(v = [0, 2, 0]);'),
-    (back, [2], '\n\ntranslate(v = [0, -2, 0]);'),
-    (arc, [10, 0, 90, 24], '\n\ndifference() {\n\tcircle($fn = 24, r = 10);\n\trotate(a = 0) {\n\t\ttranslate(v = [0, -10, 0]) {\n\t\t\tsquare(center = true, size = [30, 20]);\n\t\t}\n\t}\n\trotate(a = -90) {\n\t\ttranslate(v = [0, -10, 0]) {\n\t\t\tsquare(center = true, size = [30, 20]);\n\t\t}\n\t}\n}'),
-    (arc_inverted, [10, 0, 90, 24], '\n\ndifference() {\n\tintersection() {\n\t\trotate(a = 0) {\n\t\t\ttranslate(v = [-990, 0, 0]) {\n\t\t\t\tsquare(center = false, size = [1000, 1000]);\n\t\t\t}\n\t\t}\n\t\trotate(a = 90) {\n\t\t\ttranslate(v = [-990, -1000, 0]) {\n\t\t\t\tsquare(center = false, size = [1000, 1000]);\n\t\t\t}\n\t\t}\n\t}\n\tcircle($fn = 24, r = 10);\n}'),
-    ('transform_to_point_scad', transform_to_point, [cube(2), [2, 2, 2], [3, 3, 1]], '\n\nmultmatrix(m = [[0.7071067812, -0.1622214211, -0.6882472016, 2], [-0.7071067812, -0.1622214211, -0.6882472016, 2], [0.0000000000, 0.9733285268, -0.2294157339, 2], [0, 0, 0, 1.0000000000]]) {\n\tcube(size = 2);\n}'),
-    ('extrude_along_path', extrude_along_path, [tri, [[0, 0, 0], [0, 20, 0]]], '\n\npolyhedron(faces = [[0, 3, 1], [1, 3, 4], [1, 4, 2], [2, 4, 5], [0, 2, 5], [0, 5, 3], [0, 1, 2], [3, 5, 4]], points = [[0.0000000000, 0.0000000000, 0.0000000000], [10.0000000000, 0.0000000000, 0.0000000000], [0.0000000000, 0.0000000000, 10.0000000000], [0.0000000000, 20.0000000000, 0.0000000000], [10.0000000000, 20.0000000000, 0.0000000000], [0.0000000000, 20.0000000000, 10.0000000000]]);'),
-    ('extrude_along_path_vertical', extrude_along_path, [tri, [[0, 0, 0], [0, 0, 20]]], '\n\npolyhedron(faces = [[0, 3, 1], [1, 3, 4], [1, 4, 2], [2, 4, 5], [0, 2, 5], [0, 5, 3], [0, 1, 2], [3, 5, 4]], points = [[0.0000000000, 0.0000000000, 0.0000000000], [-10.0000000000, 0.0000000000, 0.0000000000], [0.0000000000, 10.0000000000, 0.0000000000], [0.0000000000, 0.0000000000, 20.0000000000], [-10.0000000000, 0.0000000000, 20.0000000000], [0.0000000000, 10.0000000000, 20.0000000000]]);'),
 
+scad_test_cases = [
+    # Test name, function, args, expected value
+    ("up", up, [2], "\n\ntranslate(v = [0, 0, 2]);"),
+    ("down", down, [2], "\n\ntranslate(v = [0, 0, -2]);"),
+    ("left", left, [2], "\n\ntranslate(v = [-2, 0, 0]);"),
+    ("right", right, [2], "\n\ntranslate(v = [2, 0, 0]);"),
+    ("forward", forward, [2], "\n\ntranslate(v = [0, 2, 0]);"),
+    ("back", back, [2], "\n\ntranslate(v = [0, -2, 0]);"),
+    (
+        "arc",
+        arc,
+        [10, 0, 90, 24],
+        "\n\ndifference() {\n\tcircle($fn = 24, r = 10);\n\trotate(a = 0) {\n\t\ttranslate(v = [0, -10, 0]) {\n\t\t\tsquare(center = true, size = [30, 20]);\n\t\t}\n\t}\n\trotate(a = -90) {\n\t\ttranslate(v = [0, -10, 0]) {\n\t\t\tsquare(center = true, size = [30, 20]);\n\t\t}\n\t}\n}",
+    ),
+    (
+        "arc_inverted",
+        arc_inverted,
+        [10, 0, 90, 24],
+        "\n\ndifference() {\n\tintersection() {\n\t\trotate(a = 0) {\n\t\t\ttranslate(v = [-990, 0, 0]) {\n\t\t\t\tsquare(center = false, size = [1000, 1000]);\n\t\t\t}\n\t\t}\n\t\trotate(a = 90) {\n\t\t\ttranslate(v = [-990, -1000, 0]) {\n\t\t\t\tsquare(center = false, size = [1000, 1000]);\n\t\t\t}\n\t\t}\n\t}\n\tcircle($fn = 24, r = 10);\n}",
+    ),
+    (
+        "transform_to_point_scad",
+        transform_to_point,
+        [cube(2), [2, 2, 2], [3, 3, 1]],
+        "\n\nmultmatrix(m = [[0.7071067812, -0.1622214211, -0.6882472016, 2], [-0.7071067812, -0.1622214211, -0.6882472016, 2], [0.0000000000, 0.9733285268, -0.2294157339, 2], [0, 0, 0, 1.0000000000]]) {\n\tcube(size = 2);\n}",
+    ),
 ]
 
 other_test_cases = [
-    (euclidify, [[0, 0, 0]], 'Vector3(0.00, 0.00, 0.00)'),
-    ('euclidify_recursive', euclidify, [[[0, 0, 0], [1, 0, 0]]], '[Vector3(0.00, 0.00, 0.00), Vector3(1.00, 0.00, 0.00)]'),
-    ('euclidify_Vector', euclidify, [Vector3(0, 0, 0)], 'Vector3(0.00, 0.00, 0.00)'),
-    ('euclidify_recursive_Vector', euclidify, [[Vector3(0, 0, 0), Vector3(0, 0, 1)]], '[Vector3(0.00, 0.00, 0.00), Vector3(0.00, 0.00, 1.00)]'),
-    (euc_to_arr, [Vector3(0, 0, 0)], '[0, 0, 0]'),
-    ('euc_to_arr_recursive', euc_to_arr, [[Vector3(0, 0, 0), Vector3(0, 0, 1)]], '[[0, 0, 0], [0, 0, 1]]'),
-    ('euc_to_arr_arr', euc_to_arr, [[0, 0, 0]], '[0, 0, 0]'),
-    ('euc_to_arr_arr_recursive', euc_to_arr, [[[0, 0, 0], [1, 0, 0]]], '[[0, 0, 0], [1, 0, 0]]'),
-    (is_scad, [cube(2)], 'True'),
-    ('is_scad_false', is_scad, [2], 'False'),
-    ('transform_to_point_single_arr', transform_to_point, [[1, 0, 0], [2, 2, 2], [3, 3, 1]], 'Point3(2.71, 1.29, 2.00)'),
-    ('transform_to_point_single_pt3', transform_to_point, [Point3(1, 0, 0), [2, 2, 2], [3, 3, 1]], 'Point3(2.71, 1.29, 2.00)'),
-    ('transform_to_point_arr_arr', transform_to_point, [[[1, 0, 0], [0, 1, 0], [0, 0, 1]], [2, 2, 2], [3, 3, 1]], '[Point3(2.71, 1.29, 2.00), Point3(1.84, 1.84, 2.97), Point3(1.31, 1.31, 1.77)]'),
-    ('transform_to_point_pt3_arr', transform_to_point, [[Point3(1, 0, 0), Point3(0, 1, 0), Point3(0, 0, 1)], [2, 2, 2], [3, 3, 1]], '[Point3(2.71, 1.29, 2.00), Point3(1.84, 1.84, 2.97), Point3(1.31, 1.31, 1.77)]'),
-    ('transform_to_point_redundant', transform_to_point, [[Point3(0, 0, 0), Point3(10, 0, 0), Point3(0, 10, 0)], [2, 2, 2], Vector3(0, 0, 1), Point3(0, 0, 0), Vector3(0, 1, 0), Vector3(0, 0, 1)], '[Point3(2.00, 2.00, 2.00), Point3(-8.00, 2.00, 2.00), Point3(2.00, 12.00, 2.00)]'),
-    ('offset_points_inside', offset_points, [tri, 2, True], '[Point3(2.00, 2.00, 0.00), Point3(5.17, 2.00, 0.00), Point3(2.00, 5.17, 0.00)]'),
-    ('offset_points_outside', offset_points, [tri, 2, False], '[Point3(-2.00, -2.00, 0.00), Point3(14.83, -2.00, 0.00), Point3(-2.00, 14.83, 0.00)]'),
-    ('offset_points_open_poly', offset_points, [tri, 2, False, False], '[Point3(0.00, -2.00, 0.00), Point3(14.83, -2.00, 0.00), Point3(1.41, 11.41, 0.00)]'),
+    # Test name, function, args, expected value
+    ("euclidify", euclidify, [[0, 0, 0]], "Vector3(0.00, 0.00, 0.00)"),
+    (
+        "euclidify_recursive",
+        euclidify,
+        [[[0, 0, 0], [1, 0, 0]]],
+        "[Vector3(0.00, 0.00, 0.00), Vector3(1.00, 0.00, 0.00)]",
+    ),
+    ("euclidify_Vector", euclidify, [Vector3(0, 0, 0)], "Vector3(0.00, 0.00, 0.00)"),
+    (
+        "euclidify_recursive_Vector",
+        euclidify,
+        [[Vector3(0, 0, 0), Vector3(0, 0, 1)]],
+        "[Vector3(0.00, 0.00, 0.00), Vector3(0.00, 0.00, 1.00)]",
+    ),
+    ("euclidify_3_to_2", euclidify, [Point3(0, 1, 2), Point2], "Point2(0.00, 1.00)"),
+    ("euc_to_arr", euc_to_arr, [Vector3(0, 0, 0)], "[0, 0, 0]"),
+    (
+        "euc_to_arr_recursive",
+        euc_to_arr,
+        [[Vector3(0, 0, 0), Vector3(0, 0, 1)]],
+        "[[0, 0, 0], [0, 0, 1]]",
+    ),
+    ("euc_to_arr_arr", euc_to_arr, [[0, 0, 0]], "[0, 0, 0]"),
+    (
+        "euc_to_arr_arr_recursive",
+        euc_to_arr,
+        [[[0, 0, 0], [1, 0, 0]]],
+        "[[0, 0, 0], [1, 0, 0]]",
+    ),
+    ("is_scad", is_scad, [cube(2)], "True"),
+    ("is_scad_false", is_scad, [2], "False"),
+    (
+        "transform_to_point_single_arr",
+        transform_to_point,
+        [[1, 0, 0], [2, 2, 2], [3, 3, 1]],
+        "Point3(2.71, 1.29, 2.00)",
+    ),
+    (
+        "transform_to_point_single_pt3",
+        transform_to_point,
+        [Point3(1, 0, 0), [2, 2, 2], [3, 3, 1]],
+        "Point3(2.71, 1.29, 2.00)",
+    ),
+    (
+        "transform_to_point_arr_arr",
+        transform_to_point,
+        [[[1, 0, 0], [0, 1, 0], [0, 0, 1]], [2, 2, 2], [3, 3, 1]],
+        "[Point3(2.71, 1.29, 2.00), Point3(1.84, 1.84, 2.97), Point3(1.31, 1.31, 1.77)]",
+    ),
+    (
+        "transform_to_point_pt3_arr",
+        transform_to_point,
+        [[Point3(1, 0, 0), Point3(0, 1, 0), Point3(0, 0, 1)], [2, 2, 2], [3, 3, 1]],
+        "[Point3(2.71, 1.29, 2.00), Point3(1.84, 1.84, 2.97), Point3(1.31, 1.31, 1.77)]",
+    ),
+    (
+        "transform_to_point_redundant",
+        transform_to_point,
+        [
+            [Point3(0, 0, 0), Point3(10, 0, 0), Point3(0, 10, 0)],
+            [2, 2, 2],
+            Vector3(0, 0, 1),
+            Point3(0, 0, 0),
+            Vector3(0, 1, 0),
+            Vector3(0, 0, 1),
+        ],
+        "[Point3(2.00, 2.00, 2.00), Point3(-8.00, 2.00, 2.00), Point3(2.00, 12.00, 2.00)]",
+    ),
+    (
+        "offset_points_inside",
+        offset_points,
+        [tri, 2, True],
+        "[Point2(2.00, 2.00), Point2(5.17, 2.00), Point2(2.00, 5.17)]",
+    ),
+    (
+        "offset_points_outside",
+        offset_points,
+        [tri, 2, False],
+        "[Point2(-2.00, -2.00), Point2(14.83, -2.00), Point2(-2.00, 14.83)]",
+    ),
 ]
 
 
 class TestSPUtils(DiffOutput):
     # Test cases will be dynamically added to this instance
     # using the test case arrays above
+    def assertEqualNoWhitespace(self, a, b):
+        remove_whitespace = lambda s: re.subn(r"[\s\n]", "", s)[0]  # noqa: E731
+        self.assertEqual(remove_whitespace(a), remove_whitespace(b))
+
+    def assertEqualOpenScadObject(
+        self, expected: str, actual: Union[OpenSCADObject, str]
+    ):
+        if isinstance(actual, OpenSCADObject):
+            act = scad_render(actual)
+        elif isinstance(actual, str):
+            act = actual
+        self.assertEqualNoWhitespace(expected, act)
 
     def test_split_body_planar(self):
         offset = [10, 10, 10]
@@ -59,43 +154,110 @@ def test_split_body_planar(self):
         body_bb = BoundingBox([40, 40, 40], offset)
         actual = []
         for split_dir in [RIGHT_VEC, FORWARD_VEC, UP_VEC]:
-            actual_tuple = split_body_planar(body, body_bb, cutting_plane_normal=split_dir, cut_proportion=0.25)
+            actual_tuple = split_body_planar(
+                body, body_bb, cutting_plane_normal=split_dir, cut_proportion=0.25
+            )
             actual.append(actual_tuple)
 
-        # Ignore the bounding box object that come back, taking only the SCAD
-        # objects
+        # Ignore the bounding box object that come back, taking only the SCAD objects
         actual = [scad_render(a) for splits in actual for a in splits[::2]]
 
-        expected = ['\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [-5.0000000000, 10, 10]) {\n\t\tcube(center = true, size = [10.0000000000, 40, 40]);\n\t}\n}',
-                    '\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [15.0000000000, 10, 10]) {\n\t\tcube(center = true, size = [30.0000000000, 40, 40]);\n\t}\n}',
-                    '\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [10, -5.0000000000, 10]) {\n\t\tcube(center = true, size = [40, 10.0000000000, 40]);\n\t}\n}',
-                    '\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [10, 15.0000000000, 10]) {\n\t\tcube(center = true, size = [40, 30.0000000000, 40]);\n\t}\n}',
-                    '\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [10, 10, -5.0000000000]) {\n\t\tcube(center = true, size = [40, 40, 10.0000000000]);\n\t}\n}',
-                    '\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [10, 10, 15.0000000000]) {\n\t\tcube(center = true, size = [40, 40, 30.0000000000]);\n\t}\n}'
-                    ]
+        expected = [
+            "\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [-5.0000000000, 10, 10]) {\n\t\tcube(center = true, size = [10.0000000000, 40, 40]);\n\t}\n}",
+            "\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [15.0000000000, 10, 10]) {\n\t\tcube(center = true, size = [30.0000000000, 40, 40]);\n\t}\n}",
+            "\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [10, -5.0000000000, 10]) {\n\t\tcube(center = true, size = [40, 10.0000000000, 40]);\n\t}\n}",
+            "\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [10, 15.0000000000, 10]) {\n\t\tcube(center = true, size = [40, 30.0000000000, 40]);\n\t}\n}",
+            "\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [10, 10, -5.0000000000]) {\n\t\tcube(center = true, size = [40, 40, 10.0000000000]);\n\t}\n}",
+            "\n\nintersection() {\n\ttranslate(v = [10, 10, 10]) {\n\t\tsphere(r = 20);\n\t}\n\ttranslate(v = [10, 10, 15.0000000000]) {\n\t\tcube(center = true, size = [40, 40, 30.0000000000]);\n\t}\n}",
+        ]
         self.assertEqual(actual, expected)
 
     def test_fillet_2d_add(self):
-        pts = [[0, 5], [5, 5], [5, 0], [10, 0], [10, 10], [0, 10], ]
+        pts = [
+            [0, 5],
+            [5, 5],
+            [5, 0],
+            [10, 0],
+            [10, 10],
+            [0, 10],
+        ]
         p = polygon(pts)
-        newp = fillet_2d(euclidify(pts[0:3], Point3), orig_poly=p, fillet_rad=2, remove_material=False)
-        expected = '\n\nunion() {\n\tpolygon(paths = [[0, 1, 2, 3, 4, 5]], points = [[0, 5], [5, 5], [5, 0], [10, 0], [10, 10], [0, 10]]);\n\ttranslate(v = [3.0000000000, 3.0000000000, 0.0000000000]) {\n\t\tdifference() {\n\t\t\tintersection() {\n\t\t\t\trotate(a = 358.0000000000) {\n\t\t\t\t\ttranslate(v = [-998, 0, 0]) {\n\t\t\t\t\t\tsquare(center = false, size = [1000, 1000]);\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t\trotate(a = 452.0000000000) {\n\t\t\t\t\ttranslate(v = [-998, -1000, 0]) {\n\t\t\t\t\t\tsquare(center = false, size = [1000, 1000]);\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t}\n\t\t\tcircle(r = 2);\n\t\t}\n\t}\n}'
-        actual = scad_render(newp)
-        self.assertEqual(expected, actual)
+        three_points = [euclidify(pts[0:3], Point2)]
+        actual = fillet_2d(
+            three_points, orig_poly=p, fillet_rad=2, remove_material=False
+        )
+        expected = "union(){polygon(points=[[0,5],[5,5],[5,0],[10,0],[10,10],[0,10]]);translate(v=[3.0000000000,3.0000000000]){difference(){intersection(){rotate(a=359.9000000000){translate(v=[-998,0,0]){square(center=false,size=[1000,1000]);}}rotate(a=450.1000000000){translate(v=[-998,-1000,0]){square(center=false,size=[1000,1000]);}}}circle(r=2);}}}"
+        self.assertEqualOpenScadObject(expected, actual)
 
     def test_fillet_2d_remove(self):
-        pts = tri
-        poly = polygon(euc_to_arr(tri))
-
-        newp = fillet_2d(tri, orig_poly=poly, fillet_rad=2, remove_material=True)
-        expected = '\n\ndifference() {\n\tpolygon(paths = [[0, 1, 2]], points = [[0, 0, 0], [10, 0, 0], [0, 10, 0]]);\n\ttranslate(v = [5.1715728753, 2.0000000000, 0.0000000000]) {\n\t\tdifference() {\n\t\t\tintersection() {\n\t\t\t\trotate(a = 268.0000000000) {\n\t\t\t\t\ttranslate(v = [-998, 0, 0]) {\n\t\t\t\t\t\tsquare(center = false, size = [1000, 1000]);\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t\trotate(a = 407.0000000000) {\n\t\t\t\t\ttranslate(v = [-998, -1000, 0]) {\n\t\t\t\t\t\tsquare(center = false, size = [1000, 1000]);\n\t\t\t\t\t}\n\t\t\t\t}\n\t\t\t}\n\t\t\tcircle(r = 2);\n\t\t}\n\t}\n}'
-        actual = scad_render(newp)
-        if expected != actual:
-            print(''.join(difflib.unified_diff(expected, actual)))
+        pts = list((project_to_2D(p) for p in tri))
+        poly = polygon(euc_to_arr(pts))
+        actual = fillet_2d([pts], orig_poly=poly, fillet_rad=2, remove_material=True)
+        expected = "difference(){polygon(points=[[0,0],[10,0],[0,10]]);translate(v=[5.1715728753,2.0000000000]){difference(){intersection(){rotate(a=-90.1000000000){translate(v=[-998,0,0]){square(center=false,size=[1000,1000]);}}rotate(a=45.1000000000){translate(v=[-998,-1000,0]){square(center=false,size=[1000,1000]);}}}circle(r=2);}}}"
+        self.assertEqualOpenScadObject(expected, actual)
+
+    def test_euclidify_non_mutating(self):
+        base_tri = [Point2(0, 0), Point2(10, 0), Point2(0, 10)]
+        next_tri = euclidify(base_tri, Point2)  # noqa: F841
+        expected = 3
+        actual = len(base_tri)
+        self.assertEqual(expected, actual, "euclidify should not mutate its arguments")
+
+    def test_offset_points_closed(self):
+        actual = euc_to_arr(offset_points(tri, offset=1, closed=True))
+        expected = [[1.0, 1.0], [7.585786437626904, 1.0], [1.0, 7.585786437626905]]
         self.assertEqual(expected, actual)
 
+    def test_offset_points_open(self):
+        actual = euc_to_arr(offset_points(tri, offset=1, closed=False))
+        expected = [
+            [0.0, 1.0],
+            [7.585786437626904, 1.0],
+            [-0.7071067811865479, 9.292893218813452],
+        ]
+        self.assertEqual(expected, actual)
+
+    def test_path_2d(self):
+        base_tri = [Point2(0, 0), Point2(10, 0), Point2(10, 10)]
+        actual = euc_to_arr(path_2d(base_tri, width=2, closed=False))
+        expected = [
+            [0.0, 1.0],
+            [9.0, 1.0],
+            [9.0, 10.0],
+            [11.0, 10.0],
+            [11.0, -1.0],
+            [0.0, -1.0],
+        ]
+        self.assertEqual(expected, actual)
+
+    def test_path_2d_polygon(self):
+        base_tri = [Point2(0, 0), Point2(10, 0), Point2(10, 10), Point2(0, 10)]
+        poly = path_2d_polygon(base_tri, width=2, closed=True)
+        expected = [
+            (1.0, 1.0),
+            (9.0, 1.0),
+            (9.0, 9.0),
+            (1.0, 9.0),
+            (-1.0, 11.0),
+            (11.0, 11.0),
+            (11.0, -1.0),
+            (-1.0, -1.0),
+        ]
+        actual = euc_to_arr(poly.params["points"])
+        self.assertEqual(expected, actual)
+
+        # Make sure the inner and outer paths in the polygon are disjoint
+        expected = [[0, 1, 2, 3], [4, 5, 6, 7]]
+        actual = poly.params["paths"]
+        self.assertEqual(expected, actual)
+
+    def test_label(self):
+        expected = 'translate(v=[0,5.0000000000,0]){resize(newsize=[15,0,0.5000000000]){union(){translate(v=[0,0.0000000000,0]){linear_extrude(height=1){text($fn=40,font="MgOpenModata:style=Bold",halign="left",spacing=1,text="Hello,",valign="baseline");}}translate(v=[0,-11.5000000000,0]){linear_extrude(height=1){text($fn=40,font="MgOpenModata:style=Bold",halign="left",spacing=1,text="World",valign="baseline");}}}}}'
+        actual = label("Hello,\nWorld")
+        self.assertEqualOpenScadObject(expected, actual)
+
 
-def test_generator_scad(func, args, expected):
+def generate_scad_test(func, args, expected):
     def test_scad(self):
         scad_obj = func(*args)
         actual = scad_render(scad_obj)
@@ -104,7 +266,7 @@ def test_scad(self):
     return test_scad
 
 
-def test_generator_no_scad(func, args, expected):
+def generate_no_scad_test(func, args, expected):
     def test_no_scad(self):
         actual = str(func(*args))
         self.assertEqual(expected, actual)
@@ -116,10 +278,10 @@ def read_test_tuple(test_tuple):
     if len(test_tuple) == 3:
         # If test name not supplied, create it programmatically
         func, args, expected = test_tuple
-        test_name = f'test_{func.__name__}'
+        test_name = f"test_{func.__name__}"
     elif len(test_tuple) == 4:
         test_name, func, args, expected = test_tuple
-        test_name = f'test_{test_name}'
+        test_name = f"test_{test_name}"
     else:
         print(f"test_tuple has {len(test_tuple):d} args :{test_tuple}")
     return test_name, func, args, expected
@@ -128,15 +290,15 @@ def read_test_tuple(test_tuple):
 def create_tests():
     for test_tuple in scad_test_cases:
         test_name, func, args, expected = read_test_tuple(test_tuple)
-        test = test_generator_scad(func, args, expected)
+        test = generate_scad_test(func, args, expected)
         setattr(TestSPUtils, test_name, test)
 
     for test_tuple in other_test_cases:
         test_name, func, args, expected = read_test_tuple(test_tuple)
-        test = test_generator_no_scad(func, args, expected)
+        test = generate_no_scad_test(func, args, expected)
         setattr(TestSPUtils, test_name, test)
 
 
-if __name__ == '__main__':
+if __name__ == "__main__":
     create_tests()
     unittest.main()
diff --git a/solid/utils.py b/solid/utils.py
index ed16d667..ae2e966d 100755
--- a/solid/utils.py
+++ b/solid/utils.py
@@ -1,103 +1,123 @@
 #! /usr/bin/env python
-# -*- coding: utf-8 -*-
-from __future__ import division
-import sys
 from itertools import zip_longest
-from math import pi, ceil, floor, sqrt, atan2, degrees, radians
+from math import ceil, sqrt, atan2, degrees
 
-from solid import union, cube, translate, rotate, square, circle, polyhedron
-from solid import difference, intersection, multmatrix
+from solid import union, cube, translate, rotate, square, circle, polygon
+from solid import difference, intersection, multmatrix, cylinder, color
+from solid import text, linear_extrude, resize
 from solid import run_euclid_patch
-
-from solid import OpenSCADObject, P2, P3, P4, Vec3 , Vec4, Vec34, P3s, P23
-from solid import Points, Indexes, ScadSize
-
-from typing import Union, Tuple, Sequence, List, Optional, Callable
-
+from solid import OpenSCADObject, Vec3
 
 from euclid3 import Point2, Point3, Vector2, Vector3, Line2, Line3
 from euclid3 import LineSegment2, LineSegment3, Matrix4
+
+from textwrap import indent
+
 run_euclid_patch()
 
-EucOrTuple = Union[Point3, 
-                Vector3, 
-                Tuple[float, float], 
-                Tuple[float, float, float]
-            ]
+# ==========
+# = TYPING =
+# ==========
+from typing import Any, Union, Sequence, Optional, Callable, cast  # noqa
+
+Point23 = Union[Point2, Point3]
+Vector23 = Union[Vector2, Vector3]
+PointVec23 = Union[Point2, Point3, Vector2, Vector3]
+Line23 = Union[Line2, Line3]
+LineSegment23 = Union[LineSegment2, LineSegment3]
+
+Tuple2 = tuple[float, float]
+Tuple3 = tuple[float, float, float]
+EucOrTuple = Union[Point3, Vector3, Tuple2, Tuple3]
+DirectionLR = float  # LEFT or RIGHT in 2D
+
+# =============
+# = CONSTANTS =
+# =============
 
 EPSILON = 0.01
 RIGHT, TOP, LEFT, BOTTOM = range(4)
 
 X, Y, Z = (0, 1, 2)
 
-ORIGIN      = ( 0, 0, 0)
-UP_VEC      = ( 0, 0, 1)
-RIGHT_VEC   = ( 1, 0, 0)
-FORWARD_VEC = ( 0, 1, 0)
-DOWN_VEC    = ( 0, 0,-1)
-LEFT_VEC    = (-1, 0, 0)
-BACK_VEC    = ( 0,-1, 0)
+ORIGIN = (0, 0, 0)
+UP_VEC = (0, 0, 1)
+RIGHT_VEC = (1, 0, 0)
+FORWARD_VEC = (0, 1, 0)
+DOWN_VEC = (0, 0, -1)
+LEFT_VEC = (-1, 0, 0)
+BACK_VEC = (0, -1, 0)
 
 # ==========
 # = Colors =
-# ========== 
+# ==========
+# Deprecated, but kept for backwards compatibility . Note that OpenSCAD natively
+# accepts SVG Color names, as seen here: https://en.wikibooks.org/wiki/OpenSCAD_User_Manual/Transformations#color
 # From Hans Häggström's materials.scad in MCAD: https://github.com/openscad/MCAD
-Red         = (1, 0, 0)
-Green       = (0, 1, 0)
-Blue        = (0, 0, 1)
-Cyan        = (0, 1, 1)
-Magenta     = (1, 0, 1)
-Yellow      = (1, 1, 0)
-Black       = (0, 0, 0)
-White       = (1, 1, 1)
-Oak         = (0.65, 0.50, 0.40)
-Pine        = (0.85, 0.70, 0.45)
-Birch       = (0.90, 0.80, 0.60)
-FiberBoard  = (0.70, 0.67, 0.60)
-BlackPaint  = (0.20, 0.20, 0.20)
-Iron        = (0.36, 0.33, 0.33)
-Steel       = (0.65, 0.67, 0.72)
-Stainless   = (0.45, 0.43, 0.50)
-Aluminum    = (0.77, 0.77, 0.80)
-Brass       = (0.88, 0.78, 0.50)
-Transparent = (1,    1,    1,   0.2)
+Red = (1, 0, 0)
+Green = (0, 1, 0)
+Blue = (0, 0, 1)
+Cyan = (0, 1, 1)
+Magenta = (1, 0, 1)
+Yellow = (1, 1, 0)
+Black = (0, 0, 0)
+White = (1, 1, 1)
+Oak = (0.65, 0.50, 0.40)
+Pine = (0.85, 0.70, 0.45)
+Birch = (0.90, 0.80, 0.60)
+FiberBoard = (0.70, 0.67, 0.60)
+BlackPaint = (0.20, 0.20, 0.20)
+Iron = (0.36, 0.33, 0.33)
+Steel = (0.65, 0.67, 0.72)
+Stainless = (0.45, 0.43, 0.50)
+Aluminum = (0.77, 0.77, 0.80)
+Brass = (0.88, 0.78, 0.50)
+Transparent = (1, 1, 1, 0.2)
+
 
 # ==============
 # = Grid Plane =
 # ==============
-def grid_plane(grid_unit:int=12, count:int=10, line_weight:float=0.1, plane:str='xz') -> OpenSCADObject:
-
+def grid_plane(
+    grid_unit: int = 12, count: int = 10, line_weight: float = 0.1, plane: str = "xz"
+) -> OpenSCADObject:
     # Draws a grid of thin lines in the specified plane.  Helpful for
     # reference during debugging.
-    l = count * grid_unit
+    ls = count * grid_unit
     t = union()
-    t.set_modifier('background')
+    t.set_modifier("background")
     for i in range(int(-count / 2), int(count / 2 + 1)):
-        if 'xz' in plane:
+        if "xz" in plane:
             # xz-plane
-            h = up(i * grid_unit)(cube([l, line_weight, line_weight], center=True))
-            v = right(i * grid_unit)(cube([line_weight, line_weight, l], center=True))
+            h = up(i * grid_unit)(cube([ls, line_weight, line_weight], center=True))
+            v = right(i * grid_unit)(cube([line_weight, line_weight, ls], center=True))
             t.add([h, v])
 
         # xy plane
-        if 'xy' in plane:
-            h = forward(i * grid_unit)(cube([l, line_weight, line_weight], center=True))
-            v = right(i * grid_unit)(cube([line_weight, l, line_weight], center=True))
+        if "xy" in plane:
+            h = forward(i * grid_unit)(
+                cube([ls, line_weight, line_weight], center=True)
+            )
+            v = right(i * grid_unit)(cube([line_weight, ls, line_weight], center=True))
             t.add([h, v])
 
         # yz plane
-        if 'yz' in plane:
-            h = up(i * grid_unit)(cube([line_weight, l, line_weight], center=True))
-            v = forward(i * grid_unit)(cube([line_weight, line_weight, l], center=True))
+        if "yz" in plane:
+            h = up(i * grid_unit)(cube([line_weight, ls, line_weight], center=True))
+            v = forward(i * grid_unit)(
+                cube([line_weight, line_weight, ls], center=True)
+            )
 
             t.add([h, v])
 
     return t
 
 
-def distribute_in_grid(objects:Sequence[OpenSCADObject], 
-                       max_bounding_box:Tuple[float,float], 
-                       rows_and_cols: Tuple[int,int]=None) -> OpenSCADObject:
+def distribute_in_grid(
+    objects: Sequence[OpenSCADObject],
+    max_bounding_box: tuple[float, float],
+    rows_and_cols: tuple[int, int] = None,
+) -> OpenSCADObject:
     # Translate each object in objects in a grid with each cell of size
     # max_bounding_box.
     #
@@ -120,7 +140,7 @@ def distribute_in_grid(objects:Sequence[OpenSCADObject],
 
     ret = []
     if rows_and_cols:
-        grid_w, grid_h = rows_and_cols
+        grid_h, grid_w = rows_and_cols
     else:
         grid_w = grid_h = int(ceil(sqrt(len(objects))))
 
@@ -129,18 +149,18 @@ def distribute_in_grid(objects:Sequence[OpenSCADObject],
         for x in range(grid_w):
             if objs_placed < len(objects):
                 ret.append(
-                    translate((x * x_trans, y * y_trans, 0))(objects[objs_placed]))
+                    translate((x * x_trans, y * y_trans, 0))(objects[objs_placed])
+                )
                 objs_placed += 1
             else:
                 break
     return union()(*ret)
 
+
 # ==============
 # = Directions =
 # ==============
-
-
-def up(z:float) -> OpenSCADObject:
+def up(z: float) -> OpenSCADObject:
     return translate((0, 0, z))
 
 
@@ -167,88 +187,92 @@ def back(y: float) -> OpenSCADObject:
 # ===========================
 # = Box-alignment rotations =
 # ===========================
-def rot_z_to_up(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_z_to_up(obj: OpenSCADObject) -> OpenSCADObject:
     # NOTE: Null op
     return rotate(a=0, v=FORWARD_VEC)(obj)
 
 
-def rot_z_to_down(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_z_to_down(obj: OpenSCADObject) -> OpenSCADObject:
     return rotate(a=180, v=FORWARD_VEC)(obj)
 
 
-def rot_z_to_right(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_z_to_right(obj: OpenSCADObject) -> OpenSCADObject:
     return rotate(a=90, v=FORWARD_VEC)(obj)
 
 
-def rot_z_to_left(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_z_to_left(obj: OpenSCADObject) -> OpenSCADObject:
     return rotate(a=-90, v=FORWARD_VEC)(obj)
 
 
-def rot_z_to_forward(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_z_to_forward(obj: OpenSCADObject) -> OpenSCADObject:
     return rotate(a=-90, v=RIGHT_VEC)(obj)
 
 
-def rot_z_to_back(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_z_to_back(obj: OpenSCADObject) -> OpenSCADObject:
     return rotate(a=90, v=RIGHT_VEC)(obj)
 
 
 # ================================
 # = Box-aligment and translation =
 # ================================
-def box_align(obj:OpenSCADObject, 
-              direction_func:Callable[[float], OpenSCADObject]=up, 
-              distance:float=0) -> OpenSCADObject:
+def box_align(
+    obj: OpenSCADObject,
+    direction_func: Callable[[float], OpenSCADObject] = up,
+    distance: float = 0,
+) -> OpenSCADObject:
     # Given a box side (up, left, etc) and a distance,
     # rotate obj (assumed to be facing up) in the
     # correct direction and move it distance in that
     # direction
     trans_and_rot = {
-        up:         rot_z_to_up,  # Null
-        down:       rot_z_to_down,
-        right:      rot_z_to_right,
-        left:       rot_z_to_left,
-        forward:    rot_z_to_forward,
-        back:       rot_z_to_back,
+        up: rot_z_to_up,  # Null
+        down: rot_z_to_down,
+        right: rot_z_to_right,
+        left: rot_z_to_left,
+        forward: rot_z_to_forward,
+        back: rot_z_to_back,
     }
 
-    assert(direction_func in trans_and_rot)
+    assert direction_func in trans_and_rot
     rot = trans_and_rot[direction_func]
     return direction_func(distance)(rot(obj))
 
+
 # =======================
 # = 90-degree Rotations =
 # =======================
 
 
-def rot_z_to_x(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_z_to_x(obj: OpenSCADObject) -> OpenSCADObject:
     return rotate(a=90, v=FORWARD_VEC)(obj)
 
 
-def rot_z_to_neg_x(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_z_to_neg_x(obj: OpenSCADObject) -> OpenSCADObject:
     return rotate(a=-90, v=FORWARD_VEC)(obj)
 
 
-def rot_z_to_neg_y(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_z_to_neg_y(obj: OpenSCADObject) -> OpenSCADObject:
     return rotate(a=90, v=RIGHT_VEC)(obj)
 
 
-def rot_z_to_y(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_z_to_y(obj: OpenSCADObject) -> OpenSCADObject:
     return rotate(a=-90, v=RIGHT_VEC)(obj)
 
 
-def rot_x_to_y(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_x_to_y(obj: OpenSCADObject) -> OpenSCADObject:
     return rotate(a=90, v=UP_VEC)(obj)
 
 
-def rot_x_to_neg_y(obj:OpenSCADObject) -> OpenSCADObject:
+def rot_x_to_neg_y(obj: OpenSCADObject) -> OpenSCADObject:
     return rotate(a=-90, v=UP_VEC)(obj)
 
+
 # =======
 # = Arc =
 # =======
-
-
-def arc(rad:float, start_degrees:float, end_degrees:float, segments:int=None) -> OpenSCADObject:
+def arc(
+    rad: float, start_degrees: float, end_degrees: float, segments: int = None
+) -> OpenSCADObject:
     # Note: the circle that this arc is drawn from gets segments,
     # not the arc itself.  That means a quarter-circle arc will
     # have segments/4 segments.
@@ -263,21 +287,23 @@ def arc(rad:float, start_degrees:float, end_degrees:float, segments:int=None) ->
         ret = difference()(
             start_shape,
             rotate(a=start_degrees)(bottom_half_square.copy()),
-            rotate(a=end_angle)(bottom_half_square.copy())
+            rotate(a=end_angle)(bottom_half_square.copy()),
         )
     else:
         ret = intersection()(
             start_shape,
             union()(
                 rotate(a=start_degrees)(top_half_square.copy()),
-                rotate(a=end_degrees)(bottom_half_square.copy())
-            )
+                rotate(a=end_degrees)(bottom_half_square.copy()),
+            ),
         )
 
     return ret
 
 
-def arc_inverted(rad:float, start_degrees:float, end_degrees:float, segments:int=None) -> OpenSCADObject:
+def arc_inverted(
+    rad: float, start_degrees: float, end_degrees: float, segments: int = None
+) -> OpenSCADObject:
     # Return the segment of an arc *outside* the circle of radius rad,
     # bounded by two tangents to the circle.  This is the shape
     # needed for fillets.
@@ -312,15 +338,20 @@ def arc_inverted(rad:float, start_degrees:float, end_degrees:float, segments:int
     # since if the two angles differ by more than 180 degrees,
     # the tangent lines don't converge
     if end_degrees - start_degrees == 180:
-        raise ValueError("Unable to draw inverted arc over 180 or more "
-                         "degrees. start_degrees: %s end_degrees: %s"
-                         % (start_degrees, end_degrees))
+        raise ValueError(
+            "Unable to draw inverted arc over 180 or more "
+            "degrees. start_degrees: %s end_degrees: %s" % (start_degrees, end_degrees)
+        )
 
     wide = 1000
     high = 1000
 
-    top_half_square = translate((-(wide - rad), 0, 0))(square([wide, high], center=False))
-    bottom_half_square = translate((-(wide - rad), -high, 0))(square([wide, high], center=False))
+    top_half_square = translate((-(wide - rad), 0, 0))(
+        square([wide, high], center=False)
+    )
+    bottom_half_square = translate((-(wide - rad), -high, 0))(
+        square([wide, high], center=False)
+    )
 
     a = rotate(start_degrees)(top_half_square)
     b = rotate(end_degrees)(bottom_half_square)
@@ -329,15 +360,15 @@ def arc_inverted(rad:float, start_degrees:float, end_degrees:float, segments:int
 
     return ret
 
+
 # TODO: arc_to that creates an arc from point to another point.
 # This is useful for making paths.  See the SVG path command:
 # See: http://www.w3.org/TR/SVG/implnote.html#ArcImplementationNotes
 
+
 # ======================
 # = Bounding Box Class =
 # ======================
-
-
 class BoundingBox(object):
     # A basic Bounding Box representation to enable some more introspection about
     # objects.  For instance, a BB will let us say "put this new object on top of
@@ -349,40 +380,51 @@ class BoundingBox(object):
     # Basically you can use a BoundingBox to describe the extents of an object
     # the moment it's created, but once you perform any CSG operation on it, it's
     # more or less useless.
-    def __init__(self, size, loc=None):
+    def __init__(self, size: list[float], loc: list[float] = None):
         loc = loc if loc else [0, 0, 0]
         # self.w, self.h, self.d = size
         # self.x, self.y, self.z = loc
         self.set_size(size)
         self.set_position(loc)
 
-    def size(self):
+    def size(self) -> list[float]:
         return [self.w, self.h, self.d]
 
-    def position(self):
+    def position(self) -> list[float]:
         return [self.x, self.y, self.z]
 
-    def set_position(self, position):
+    def set_position(self, position: Sequence[float]):
         self.x, self.y, self.z = position
 
-    def set_size(self, size):
+    def set_size(self, size: Sequence[float]):
         self.w, self.h, self.d = size
 
-    def split_planar(self, cutting_plane_normal=RIGHT_VEC, cut_proportion=0.5, add_wall_thickness=0):
-        cpd = {RIGHT_VEC: 0, LEFT_VEC: 0, FORWARD_VEC: 1,
-               BACK_VEC: 1, UP_VEC: 2, DOWN_VEC: 2}
+    def split_planar(
+        self,
+        cutting_plane_normal: Vec3 = RIGHT_VEC,
+        cut_proportion: float = 0.5,
+        add_wall_thickness: float = 0,
+    ) -> list["BoundingBox"]:
+        cpd = {
+            RIGHT_VEC: 0,
+            LEFT_VEC: 0,
+            FORWARD_VEC: 1,
+            BACK_VEC: 1,
+            UP_VEC: 2,
+            DOWN_VEC: 2,
+        }
         cutting_plane = cpd.get(cutting_plane_normal, 2)
 
         # Figure what  the cutting plane offset should be
         dim_center = self.position()[cutting_plane]
         dim = self.size()[cutting_plane]
         dim_min = dim_center - dim / 2
-        dim_max = dim_center + dim / 2
-        cut_point = (cut_proportion) * dim_min + (1 - cut_proportion) * dim_max
+        # dim_max = dim_center + dim / 2
+        # cut_point = (cut_proportion) * dim_min + (1 - cut_proportion) * dim_max
 
         # Now create bounding boxes with the appropriate sizes
         part_bbs = []
-        a_sum = 0
+        a_sum = 0.0
         for i, part in enumerate([cut_proportion, (1 - cut_proportion)]):
             part_size = self.size()
             part_size[cutting_plane] = part_size[cutting_plane] * part
@@ -410,37 +452,30 @@ def split_planar(self, cutting_plane_normal=RIGHT_VEC, cut_proportion=0.5, add_w
 
         return part_bbs
 
-    def cube(self, larger=False):
+    def cube(self, larger: bool = False) -> OpenSCADObject:
         c_size = self.size() if not larger else [s + 2 * EPSILON for s in self.size()]
-        c = translate(self.position())(
-            cube(c_size, center=True)
-        )
+        c = translate(self.position())(cube(c_size, center=True))
         return c
 
-    def min(self, which_dim=None):
-        min_pt = [p - s / 2 for p, s in zip(self.position(), self.size())]
-        if which_dim:
-            return min_pt[which_dim]
-        else:
-            return min_pt
-
-    def max(self, which_dim=None):
-        max_pt = [p + s / 2 for p, s in zip(self.position(), self.size())]
-        if which_dim:
-            return max_pt[which_dim]
-        else:
-            return max_pt
-
 
 # ===================
 # = Model Splitting =
 # ===================
-def split_body_planar(obj, obj_bb, cutting_plane_normal=UP_VEC, cut_proportion=0.5, dowel_holes=False, dowel_rad=4.5, hole_depth=15, add_wall_thickness=0):
+def split_body_planar(
+    obj: OpenSCADObject,
+    obj_bb: BoundingBox,
+    cutting_plane_normal: Vec3 = UP_VEC,
+    cut_proportion: float = 0.5,
+    dowel_holes: bool = False,
+    dowel_rad: float = 4.5,
+    hole_depth: float = 15,
+    add_wall_thickness=0,
+) -> tuple[OpenSCADObject, BoundingBox, OpenSCADObject, BoundingBox]:
     # Split obj along the specified plane, returning two pieces and
     # general bounding boxes for each.
     # Note that the bounding boxes are NOT accurate to the sections,
     # they just indicate which portion of the original BB is in each
-    # section.  Given the limits of OpenSCAD, this is the best we can do 
+    # section.  Given the limits of OpenSCAD, this is the best we can do
     # -ETJ 17 Oct 2013
 
     # Optionally, leave holes in both bodies to allow the pieces to be put
@@ -448,7 +483,8 @@ def split_body_planar(obj, obj_bb, cutting_plane_normal=UP_VEC, cut_proportion=0
 
     # Find the splitting bounding boxes
     part_bbs = obj_bb.split_planar(
-        cutting_plane_normal, cut_proportion, add_wall_thickness=add_wall_thickness)
+        cutting_plane_normal, cut_proportion, add_wall_thickness=add_wall_thickness
+    )
 
     # And intersect the bounding boxes with the object itself
     slices = [obj * part_bb.cube() for part_bb in part_bbs]
@@ -457,8 +493,14 @@ def split_body_planar(obj, obj_bb, cutting_plane_normal=UP_VEC, cut_proportion=0
     # In case the bodies need to be aligned properly, make two holes,
     # separated by one dowel-width
     if dowel_holes:
-        cpd = {RIGHT_VEC: 0, LEFT_VEC: 0, FORWARD_VEC: 1,
-               BACK_VEC: 1, UP_VEC: 2, DOWN_VEC: 2}
+        cpd = {
+            RIGHT_VEC: 0,
+            LEFT_VEC: 0,
+            FORWARD_VEC: 1,
+            BACK_VEC: 1,
+            UP_VEC: 2,
+            DOWN_VEC: 2,
+        }
         cutting_plane = cpd.get(cutting_plane_normal, 2)
 
         dowel = cylinder(r=dowel_rad, h=hole_depth * 2, center=True)
@@ -467,8 +509,10 @@ def split_body_planar(obj, obj_bb, cutting_plane_normal=UP_VEC, cut_proportion=0
             rot_vec = RIGHT_VEC if cutting_plane == 1 else FORWARD_VEC
             dowel = rotate(a=90, v=rot_vec)(dowel)
 
-        cut_point = part_bbs[
-            0].position()[cutting_plane] + part_bbs[0].size()[cutting_plane] / 2
+        cut_point = (
+            part_bbs[0].position()[cutting_plane]
+            + part_bbs[0].size()[cutting_plane] / 2
+        )
 
         # Move dowels away from center of face by 2*dowel_rad in each
         # appropriate direction
@@ -486,77 +530,118 @@ def split_body_planar(obj, obj_bb, cutting_plane_normal=UP_VEC, cut_proportion=0
         # subtract dowels from each slice
         slices = [s - dowels for s in slices]
 
-    slices_and_bbs = [slices[0], part_bbs[0], slices[1], part_bbs[1]]
+    slices_and_bbs = (slices[0], part_bbs[0], slices[1], part_bbs[1])
     return slices_and_bbs
 
 
-def section_cut_xz(body, y_cut_point=0):
+def section_cut_xz(body: OpenSCADObject, y_cut_point: float = 0) -> OpenSCADObject:
     big_w = 10000
     d = 2
     c = forward(d / 2 + y_cut_point)(cube([big_w, d, big_w], center=True))
     return c * body
 
+
 # =====================
 # = Bill of Materials =
 # =====================
 # Any part defined in a method can be automatically counted using the
 # `@bom_part()` decorator. After all parts have been created, call
-# `bill_of_materials()`
+# `bill_of_materials(<SCAD_OBJ>)`
 # to generate a report.  See `examples/bom_scad.py` for usage
 #
 # Additional columns can be added (such as leftover material or URL to part)
-# by calling `set_bom_headers()` with a series of string arguments. 
+# by calling `set_bom_headers()` with a series of string arguments.
 #
-# Calling `bom_part()` with additional, non-keyworded arguments will 
-# populate the new columns in order of their addition via bom_headers, or 
+# Calling `bom_part()` with additional, non-keyworded arguments will
+# populate the new columns in order of their addition via bom_headers, or
 # keyworded arguments can be used in any order.
 
-g_parts_dict = {}
-g_bom_headers: List[str] = []
+g_bom_headers: list[str] = []
+
 
 def set_bom_headers(*args):
     global g_bom_headers
     g_bom_headers += args
 
-def bom_part(description='', per_unit_price=None, currency='US$', *args, **kwargs):
+
+def bom_part(
+    description: str = "",
+    per_unit_price: float = None,
+    currency: str = "US$",
+    *args,
+    **kwargs,
+) -> Callable:
     def wrap(f):
         name = description if description else f.__name__
 
-        elements = {}
-        elements.update({'Count':0, 'currency':currency, 'Unit Price':per_unit_price})
+        elements = {
+            "name": name,
+            "Count": 0,
+            "currency": currency,
+            "Unit Price": per_unit_price,
+        }
         # This update also adds empty key value pairs to prevent key exceptions.
-        elements.update(dict(zip_longest(g_bom_headers, args, fillvalue='')))
+        elements.update(dict(zip_longest(g_bom_headers, args, fillvalue="")))
         elements.update(kwargs)
 
-        g_parts_dict[name] = elements
-
         def wrapped_f(*wargs, **wkwargs):
-            name = description if description else f.__name__
-            g_parts_dict[name]['Count'] += 1
-            return f(*wargs, **wkwargs)
+            scad_obj = f(*wargs, **wkwargs)
+            scad_obj.add_trait("BOM", elements)
+            return scad_obj
 
         return wrapped_f
 
     return wrap
 
-def bill_of_materials(csv=False):
+
+def bill_of_materials(root_obj: OpenSCADObject, csv: bool = False) -> str:
+    traits_dicts = _traits_bom_dicts(root_obj)
+    # Build a single dictionary from the ones stored on each child object
+    # (This is an adaptation of an earlier version, and probably not the most
+    # direct way to accomplish this)
+    all_bom_traits = {}
+    for traits_dict in traits_dicts:
+        name = traits_dict["name"]
+        if name in all_bom_traits:
+            all_bom_traits[name]["Count"] += 1
+        else:
+            all_bom_traits[name] = traits_dict
+            all_bom_traits[name]["Count"] = 1
+    bom = _make_bom(all_bom_traits, csv)
+    return bom
+
+
+def _traits_bom_dicts(root_obj: OpenSCADObject) -> list[dict[str, float]]:
+    all_child_traits = [_traits_bom_dicts(c) for c in root_obj.children]
+    child_traits = [item for subl in all_child_traits for item in subl if item]
+    bom_trait = root_obj.get_trait("BOM")
+    if bom_trait:
+        child_traits.append(bom_trait)
+    return child_traits
+
+
+def _make_bom(
+    bom_parts_dict: dict[str, float],
+    csv: bool = False,
+) -> str:
     field_names = ["Description", "Count", "Unit Price", "Total Price"]
     field_names += g_bom_headers
-    
+
     rows = []
-    
-    all_costs = {}
-    for desc, elements in g_parts_dict.items():
-        count = elements['Count']
-        currency = elements['currency']
-        price = elements['Unit Price']
+
+    all_costs: dict[str, float] = {}
+    for desc, elements in bom_parts_dict.items():
+        row = []
+        count = elements["Count"]
+        currency = elements["currency"]
+        price = elements["Unit Price"]
 
         if count > 0:
             if price:
                 total = price * count
                 if currency not in all_costs:
-                    all_costs[currency] = 0 
-                
+                    all_costs[currency] = 0
+
                 all_costs[currency] += total
                 unit_price = _currency_str(price, currency)
                 total_price = _currency_str(total, currency)
@@ -577,28 +662,33 @@ def bill_of_materials(csv=False):
             row = empty_row[:]
             row[0] = "Total Cost, {currency:>4}".format(**vars())
             row[3] = "{currency:>4} {cost:.2f}".format(**vars())
-            
+
             rows.append(row)
 
     res = _table_string(field_names, rows, csv)
 
     return res
 
-def _currency_str(value, currency="$"):
+
+def _currency_str(value: float, currency: str = "$") -> str:
     return "{currency:>4} {value:.2f}".format(**vars())
-    
-def _table_string(field_names, rows, csv=False):
+
+
+def _table_string(
+    field_names: Sequence[str], rows: Sequence[Sequence[float]], csv: bool = False
+) -> str:
     # Output a justified table string using the prettytable module.
-    # Fall back to Excel-ready tab-separated values if prettytable's not found 
+    # Fall back to Excel-ready tab-separated values if prettytable's not found
     # or CSV is requested
     if not csv:
         try:
             import prettytable
+
             table = prettytable.PrettyTable(field_names=field_names)
             for row in rows:
                 table.add_row(row)
             res = table.get_string()
-        except ImportError as e:
+        except ImportError:
             print("Unable to import prettytable module.  Outputting in TSV format")
             csv = True
     if csv:
@@ -607,16 +697,15 @@ def _table_string(field_names, rows, csv=False):
             line = "\t".join([str(f) for f in row])
             lines.append(line)
 
-        res = "\n".join(lines) 
-        
-    return res  + "\n"            
+        res = "\n".join(lines)
+
+    return res + "\n"
+
 
 # ================
 # = Bounding Box =
 # ================
-
-
-def bounding_box(points):
+def bounding_box(points: Sequence[EucOrTuple]) -> tuple[Tuple3, Tuple3]:
     all_x = []
     all_y = []
     all_z = []
@@ -624,142 +713,269 @@ def bounding_box(points):
         all_x.append(p[0])
         all_y.append(p[1])
         if len(p) > 2:
-            all_z.append(p[2])
+            all_z.append(p[2])  # type:ignore
         else:
             all_z.append(0)
 
-    return [[min(all_x), min(all_y), min(all_z)], [max(all_x), max(all_y), max(all_z)]]
+    return ((min(all_x), min(all_y), min(all_z)), (max(all_x), max(all_y), max(all_z)))
 
 
 # =======================
 # = Hardware dimensions =
 # =======================
 screw_dimensions = {
-    'm3': {'nut_thickness': 2.4, 'nut_inner_diam': 5.4, 'nut_outer_diam': 6.1, 'screw_outer_diam': 3.0, 'cap_diam': 5.5, 'cap_height': 3.0},
-    'm4': {'nut_thickness': 3.1, 'nut_inner_diam': 7.0, 'nut_outer_diam': 7.9, 'screw_outer_diam': 4.0, 'cap_diam': 6.9, 'cap_height': 3.9},
-    'm5': {'nut_thickness': 4.7, 'nut_inner_diam': 7.9, 'nut_outer_diam': 8.8, 'screw_outer_diam': 5.0, 'cap_diam': 8.7, 'cap_height': 5},
-
+    "m3": {
+        "nut_thickness": 2.4,
+        "nut_inner_diam": 5.4,
+        "nut_outer_diam": 6.1,
+        "screw_outer_diam": 3.0,
+        "cap_diam": 5.5,
+        "cap_height": 3.0,
+    },
+    "m4": {
+        "nut_thickness": 3.1,
+        "nut_inner_diam": 7.0,
+        "nut_outer_diam": 7.9,
+        "screw_outer_diam": 4.0,
+        "cap_diam": 6.9,
+        "cap_height": 3.9,
+    },
+    "m5": {
+        "nut_thickness": 4.7,
+        "nut_inner_diam": 7.9,
+        "nut_outer_diam": 8.8,
+        "screw_outer_diam": 5.0,
+        "cap_diam": 8.7,
+        "cap_height": 5,
+    },
 }
 bearing_dimensions = {
-    '608': {'inner_d':8, 'outer_d':22, 'thickness':7},
-    '688': {'inner_d':8, 'outer_d':16, 'thickness':5},
-    '686': {'inner_d':6, 'outer_d':13, 'thickness':5},
-    '626': {'inner_d':6, 'outer_d':19, 'thickness':6},
-    '625': {'inner_d':5, 'outer_d':16, 'thickness':5},
-    '624': {'inner_d':4, 'outer_d':13, 'thickness':5},
-    '623': {'inner_d':3, 'outer_d':10, 'thickness':4},
-    '603': {'inner_d':3, 'outer_d':9,  'thickness':5},
-    '633': {'inner_d':3, 'outer_d':13, 'thickness':5},
+    "608": {"inner_d": 8, "outer_d": 22, "thickness": 7},
+    "688": {"inner_d": 8, "outer_d": 16, "thickness": 5},
+    "686": {"inner_d": 6, "outer_d": 13, "thickness": 5},
+    "626": {"inner_d": 6, "outer_d": 19, "thickness": 6},
+    "625": {"inner_d": 5, "outer_d": 16, "thickness": 5},
+    "624": {"inner_d": 4, "outer_d": 13, "thickness": 5},
+    "623": {"inner_d": 3, "outer_d": 10, "thickness": 4},
+    "603": {"inner_d": 3, "outer_d": 9, "thickness": 5},
+    "633": {"inner_d": 3, "outer_d": 13, "thickness": 5},
 }
 
-def screw(screw_type='m3', screw_length=16):
+
+def screw(screw_type: str = "m3", screw_length: float = 16) -> OpenSCADObject:
     dims = screw_dimensions[screw_type.lower()]
-    shaft_rad = dims['screw_outer_diam'] / 2
-    cap_rad = dims['cap_diam'] / 2
-    cap_height = dims['cap_height']
+    shaft_rad = dims["screw_outer_diam"] / 2
+    cap_rad = dims["cap_diam"] / 2
+    cap_height = dims["cap_height"]
 
     ret = union()(
         cylinder(shaft_rad, screw_length + EPSILON),
-        up(screw_length)(
-            cylinder(cap_rad, cap_height)
-        )
+        up(screw_length)(cylinder(cap_rad, cap_height)),
     )
     return ret
 
-def nut(screw_type='m3'):
+
+def nut(screw_type: str = "m3") -> OpenSCADObject:
     dims = screw_dimensions[screw_type.lower()]
-    outer_rad = dims['nut_outer_diam']
-    inner_rad = dims['screw_outer_diam']
+    outer_rad = dims["nut_outer_diam"]
+    inner_rad = dims["screw_outer_diam"]
 
-    ret = difference()(
-        circle(outer_rad, segments=6),
-        circle(inner_rad)
-    )
+    ret = difference()(circle(outer_rad, segments=6), circle(inner_rad))
     return ret
 
-def bearing(bearing_type='624'):
+
+def bearing(bearing_type: str = "624") -> OpenSCADObject:
     dims = bearing_dimensions[bearing_type.lower()]
-    outerR = dims['outer_d']/2
-    innerR = dims['inner_d']/2
-    thickness = dims['thickness']
-    bearing = cylinder(outerR,thickness)
-    bearing.add_param('$fs', 1)
-    hole = cylinder(innerR,thickness+2)
-    hole.add_param('$fs', 1)
-    bearing = difference()(
-        bearing,
-        translate([0,0,-1])(hole)
-    )
+    outerR = dims["outer_d"] / 2
+    innerR = dims["inner_d"] / 2
+    thickness = dims["thickness"]
+    bearing = cylinder(outerR, thickness)
+    bearing.add_param("$fs", 1)
+    hole = cylinder(innerR, thickness + 2)
+    hole.add_param("$fs", 1)
+    bearing = difference()(bearing, translate([0, 0, -1])(hole))
     return bearing
 
+
+# =========
+# = LABEL =
+# =========
+def label(
+    a_str: str,
+    width: float = 15,
+    halign: str = "left",
+    valign: str = "baseline",
+    size: int = 10,
+    depth: float = 0.5,
+    lineSpacing: float = 1.15,
+    font: str = "MgOpen Modata:style=Bold",
+    segments: int = 40,
+    spacing: int = 1,
+) -> OpenSCADObject:
+    """Renders a multi-line string into a single 3D object.
+
+    __author__    = 'NerdFever.com'
+    __copyright__ = 'Copyright 2018-2019 NerdFever.com'
+    __version__   = ''
+    __email__     = 'dave@nerdfever.com'
+    __status__    = 'Development'
+    __license__   = Copyright 2018-2019 NerdFever.com
+    """
+
+    lines = a_str.splitlines()
+
+    texts = []
+
+    for idx, line in enumerate(lines):
+        t = text(
+            text=line, halign=halign, valign=valign, font=font, spacing=spacing
+        ).add_param("$fn", segments)
+        t = linear_extrude(height=1)(t)
+        t = translate([0, -size * idx * lineSpacing, 0])(t)
+
+        texts.append(t)
+
+    result = union()(texts)
+    result = resize([width, 0, depth])(result)
+    result = translate([0, (len(lines) - 1) * size / 2, 0])(result)
+
+    return result
+
+
 # ==================
 # = PyEuclid Utils =
-# = -------------- =
-def euclidify(an_obj:EucOrTuple, 
-                intended_class=Vector3) -> Union[Point3, Vector3]:
-    # If an_obj is an instance of the appropriate PyEuclid class,
-    # return it.  Otherwise, try to turn an_obj into the appropriate
-    # class and throw an exception on failure
-
-    # Since we often want to convert an entire array
-    # of objects (points, etc.) accept arrays of arrays
-
-    ret = an_obj
-
-    # See if this is an array of arrays.  If so, convert all sublists
-    if isinstance(an_obj, (list, tuple)):
-        if isinstance(an_obj[0], (list, tuple)):
-            ret = [intended_class(*p) for p in an_obj]
-        elif isinstance(an_obj[0], intended_class):
-            # this array is already euclidified; return it
-            ret = an_obj
-        else:
-            try:
-                ret = intended_class(*an_obj)
-            except:
-                raise TypeError("Object: %s ought to be PyEuclid class %s or "
-                                "able to form one, but is not."
-                                    % (an_obj, intended_class.__name__))
-    elif not isinstance(an_obj, intended_class):
-        try:
-            ret = intended_class(*an_obj)
-        except:
-            raise TypeError("Object: %s ought to be PyEuclid class %s or "
-                            "able to form one, but is not." 
-                            % (an_obj, intended_class.__name__))
-    return ret # type: ignore
-
-def euc_to_arr(euc_obj_or_list: EucOrTuple) -> List[float]:  # Inverse of euclidify()
+# ==================
+def euclidify(
+    an_obj: EucOrTuple, intended_class: type = Vector3
+) -> Union[Point23, Vector23, list[Union[Point23, Vector23]]]:
+    """
+    Accept an object or list of objects of any relevant type (2-tuples, 3-tuples, Vector2/3, Point2/3)
+    and return one or more euclid3 objects of intended_class.
+
+    # -- 3D input has its z-values dropped when intended_class is 2D
+    # -- 2D input has its z-values set to 0 when intended_class is 3D
+
+    The general idea is to take in data in whatever form is handy to users
+    and return euclid3 types with vector math capabilities
+    """
+    sequence = (list, tuple)
+    euclidable = (list, tuple, Vector2, Vector3, Point2, Point3)
+    # numeric = (int, float)
+    # If this is a list of lists, return a list of euclid objects
+    if isinstance(an_obj, sequence) and isinstance(an_obj[0], euclidable):
+        return list((_euc_obj(ao, intended_class) for ao in an_obj))
+    elif isinstance(an_obj, euclidable):
+        return _euc_obj(an_obj, intended_class)
+    else:
+        raise TypeError(f"""Object: {an_obj} ought to be PyEuclid class 
+                        {intended_class.__name__} or able to form one, but is not.""")
+
+
+def _euc_obj(an_obj: Any, intended_class: type = Vector3) -> Union[Point23, Vector23]:
+    """Take a single object (not a list of them!) and return a euclid type
+    # If given a euclid obj, return the desired type,
+    # -- 3d types are projected to z=0 when intended_class is 2D
+    # -- 2D types are projected to z=0 when intended class is 3D
+    _euc_obj( Vector3(0,1,2), Vector3) -> Vector3(0,1,2)
+    _euc_obj( Vector3(0,1,2), Point3) -> Point3(0,1,2)
+    _euc_obj( Vector2(0,1), Vector3) -> Vector3(0,1,0)
+    _euc_obj( Vector2(0,1), Point3) -> Point3(0,1,0)
+    _euc_obj( (0,1), Vector3) -> Vector3(0,1,0)
+    _euc_obj( (0,1), Point3) -> Point3(0,1,0)
+    _euc_obj( (0,1), Point2) -> Point2(0,1,0)
+    _euc_obj( (0,1,2), Point2) -> Point2(0,1)
+    _euc_obj( (0,1,2), Point3) -> Point3(0,1,2)
+    """
+    elts_in_constructor = 3
+    if intended_class in (Point2, Vector2):
+        elts_in_constructor = 2
+    result = intended_class(*an_obj[:elts_in_constructor])
+    return result
+
+
+def euc_to_arr(euc_obj_or_list: EucOrTuple) -> list[float]:  # Inverse of euclidify()
     # Call as_arr on euc_obj_or_list or on all its members if it's a list
-    result: List[float] = []
+    result: list[float] = []
 
     if hasattr(euc_obj_or_list, "as_arr"):
-        result = euc_obj_or_list.as_arr()   # type: ignore
-    elif isinstance(euc_obj_or_list, (list, tuple)) and hasattr(euc_obj_or_list[0], 'as_arr'):
-        result = [euc_to_arr(p) for p in euc_obj_or_list] # type: ignore
+        result = euc_obj_or_list.as_arr()  # type: ignore
+    elif isinstance(euc_obj_or_list, (list, tuple)) and hasattr(
+        euc_obj_or_list[0], "as_arr"
+    ):
+        result = [euc_to_arr(p) for p in euc_obj_or_list]  # type: ignore
     else:
         # euc_obj_or_list is neither an array-based PyEuclid object,
         # nor a list of them.  Assume it's a list of points or vectors,
         # and return the list unchanged.  We could be wrong about this,
         # though.
-        result = euc_obj_or_list # type: ignore
+        result = euc_obj_or_list  # type: ignore
     return result
 
-def is_scad(obj:OpenSCADObject) -> bool:
+
+def project_to_2D(euc_obj: Union[Point23, Vector23]) -> Union[Vector2, Point2]:
+    """
+    Given a Point3/Vector3, return a Point2/Vector2 ignoring the original Z coordinate
+    """
+    result: Union[Vector2, Point2] = None
+    if isinstance(euc_obj, (Point2, Vector2)):
+        result = euc_obj
+    elif isinstance(euc_obj, Point3):
+        result = Point2(euc_obj.x, euc_obj.y)
+    elif isinstance(euc_obj, Vector3):
+        result = Vector2(euc_obj.x, euc_obj.y)
+    else:
+        raise ValueError(f"Can't transform object {euc_obj} to a Point2 or Vector2")
+
+    return result
+
+
+def is_scad(obj: OpenSCADObject) -> bool:
     return isinstance(obj, OpenSCADObject)
 
+
 def scad_matrix(euclid_matrix4):
     a = euclid_matrix4
-    return [[a.a, a.b, a.c, a.d],
-            [a.e, a.f, a.g, a.h],
-            [a.i, a.j, a.k, a.l],
-            [a.m, a.n, a.o, a.p]
-            ]
+    return [
+        [a.a, a.b, a.c, a.d],
+        [a.e, a.f, a.g, a.h],
+        [a.i, a.j, a.k, a.l],
+        [a.m, a.n, a.o, a.p],
+    ]
+
+
+def centroid(points: Sequence[PointVec23]) -> PointVec23:
+    if not points:
+        raise ValueError("centroid(): argument `points` is empty")
+    first = points[0]
+    is_3d = isinstance(first, (Vector3, Point3))
+    if is_3d:
+        total = Vector3(0, 0, 0)
+    else:
+        total = Vector2(0, 0)
+
+    for p in points:
+        total += p
+    total /= len(points)
+
+    if isinstance(first, Point2):
+        return Point2(*total)
+    elif isinstance(first, Point3):
+        return Point3(*total)
+    else:
+        return total
+
 
 # ==============
 # = Transforms =
 # ==============
-def transform_to_point(body, dest_point, dest_normal, src_point=Point3(0, 0, 0), src_normal=Vector3(0, 1, 0), src_up=Vector3(0, 0, 1)):
+def transform_to_point(
+    body: OpenSCADObject,
+    dest_point: Point3,
+    dest_normal: Vector3,
+    src_point: Point3 = Point3(0, 0, 0),
+    src_normal: Vector3 = Vector3(0, 1, 0),
+    src_up: Vector3 = Vector3(0, 0, 1),
+) -> OpenSCADObject:
     # Transform body to dest_point, looking at dest_normal.
     # Orientation & offset can be changed by supplying the src arguments
 
@@ -781,16 +997,16 @@ def transform_to_point(body, dest_point, dest_normal, src_point=Point3(0, 0, 0),
             src_up = EUC_FORWARD
         else:
             src_up = EUC_UP
-            
+
     def _orig_euclid_look_at(eye, at, up):
-        '''
-        Taken from the original source of PyEuclid's Matrix4.new_look_at() 
-        prior to 1184a07d119a62fc40b2c6becdbeaf053a699047 (11 Jan 2015), 
+        """
+        Taken from the original source of PyEuclid's Matrix4.new_look_at()
+        prior to 1184a07d119a62fc40b2c6becdbeaf053a699047 (11 Jan 2015),
         as discussed here:
         https://github.com/ezag/pyeuclid/commit/1184a07d119a62fc40b2c6becdbeaf053a699047
-    
+
         We were dependent on the old behavior, which is duplicated here:
-        '''
+        """
         z = (eye - at).normalized()
         x = up.cross(z).normalized()
         y = z.cross(x)
@@ -798,9 +1014,9 @@ def _orig_euclid_look_at(eye, at, up):
         m = Matrix4.new_rotate_triple_axis(x, y, z)
         m.d, m.h, m.l = eye.x, eye.y, eye.z
         return m
-            
+
     look_at_matrix = _orig_euclid_look_at(eye=dest_point, at=at, up=src_up)
-    
+
     if is_scad(body):
         # If the body being altered is a SCAD object, do the matrix mult
         # in OpenSCAD
@@ -813,14 +1029,18 @@ def _orig_euclid_look_at(eye, at, up):
         else:
             res = look_at_matrix * body
     return res
-    
 
 
 # ========================================
 # = Vector drawing: 3D arrow from a line =
-# = -------------- =======================
-def draw_segment(euc_line=None, endless=False, arrow_rad=7, vec_color=None):
-    # Draw a tradtional arrow-head vector in 3-space.
+# ========================================
+def draw_segment(
+    euc_line: Union[Vector3, Line3] = None,
+    endless: bool = False,
+    arrow_rad: float = 7,
+    vec_color: Union[str, Tuple3] = None,
+) -> OpenSCADObject:
+    # Draw a traditional arrow-head vector in 3-space.
     vec_arrow_rad = arrow_rad
     vec_arrow_head_rad = vec_arrow_rad * 1.5
     vec_arrow_head_length = vec_arrow_rad * 3
@@ -844,8 +1064,7 @@ def draw_segment(euc_line=None, endless=False, arrow_rad=7, vec_color=None):
     )
     if endless:
         endless_length = max(v.magnitude() * 10, 200)
-        arrow += cylinder(r=vec_arrow_rad / 3,
-                            h=endless_length, center=True)
+        arrow += cylinder(r=vec_arrow_rad / 3, h=endless_length, center=True)
 
     arrow = transform_to_point(body=arrow, dest_point=p, dest_normal=v)
 
@@ -854,322 +1073,260 @@ def draw_segment(euc_line=None, endless=False, arrow_rad=7, vec_color=None):
 
     return arrow
 
+
 # ==========
 # = Offset =
-# = ------ =
-LEFT, RIGHT = radians(90), radians(-90)
-
-def offset_points(point_arr, offset, inside=True, closed_poly=True):
-    # Given a set of points, return a set of points offset from
-    # them.
-    # To get reasonable results, the points need to be all in a plane.
-    # (Non-planar point_arr will still return results, but what constitutes
-    # 'inside' or 'outside' would be different in that situation.)
-    #
-    # What direction inside and outside lie in is determined by the first
-    # three points (first corner).  In a convex closed shape, this corresponds
-    # to inside and outside.  If the first three points describe a concave
-    # portion of a closed shape, inside and outside will be switched.
-    #
-    # Basically this means that if you're offsetting a complicated shape,
-    # you'll likely have to try both directions (inside=True/False) to
-    # figure out which direction you're offsetting to.
-    #
-    # CAD programs generally require an interactive user choice about which
-    # side is outside and which is inside.  Robust behavior with this
-    # function will require similar checking.
-
-    # Also note that short segments or narrow areas can cause problems
-    # as well.  This method suffices for most planar convex figures where
-    # segment length is greater than offset, but changing any of those
-    # assumptions will cause unattractive results.  If you want real
-    # offsets, use SolidWorks.
-
-    # TODO: check for self-intersections in the line connecting the
-    # offset points, and remove them.
-
-    # Using the first three points in point_arr, figure out which direction
-    # is inside and what plane to put the points in
-    point_arr = euclidify(point_arr[:], Point3)
-    in_dir = _inside_direction(*point_arr[0:3])
-    normal = _three_point_normal(*point_arr[0:3])
-    direction = in_dir if inside else _other_dir(in_dir)
-
-    # Generate offset points for the correct direction
-    # for all of point_arr.
-    segs = []
-    offset_pts = []
-    point_arr += point_arr[0:2]  # Add first two points to the end as well
-    if closed_poly:
-        for i in range(len(point_arr) - 1):
-            a, b = point_arr[i:i + 2]
-            par_seg = _parallel_seg(a, b, normal=normal, offset=offset, direction=direction)
-            segs.append(par_seg)
-            if len(segs) > 1:
-                int_pt = segs[-2].intersect(segs[-1])
-                if int_pt:
-                    offset_pts.append(int_pt)
-
-        # When calculating based on a closed curve, we can't find the
-        # first offset point until all others have been calculated.
-        # Now that we've done so, put the last point back to first place
-        last = offset_pts[-1]
-        offset_pts.insert(0, last)
-        del(offset_pts[-1])
+# ==========
+# TODO: Make a NamedTuple for LEFT_DIR and RIGHT_DIR
+LEFT_DIR, RIGHT_DIR = 1, 2
 
+
+def offset_points(
+    points: Sequence[Point23], offset: float, internal: bool = True, closed=True
+) -> list[Point2]:
+    """
+    Given a set of points, return a set of points offset by `offset`, in the
+    direction specified by `internal`.
+
+    NOTE: OpenSCAD has the native `offset()` function that generates offset
+    polygons nicely as well as doing fillets & rounds. If you just need a shape,
+    prefer using the native `offset()`.  If you need the actual points for some
+    purpose, use this function.
+    See: https://en.wikibooks.org/wiki/OpenSCAD_User_Manual/Transformations#offset
+
+    # NOTE: We accept Point2s or Point3s, but ignore all Z values and return Point2s
+
+    What is internal or external is defined by by the direction of curvature
+    between the first and second points; for non-convex shapes, we will return
+    an incorrect (internal points are all external, or vice versa) if the first
+    segment pair is concave. This could be mitigated with a point_is_in_polygon()
+    function, but I haven't written that yet.
+    """
+    # Note that we could just call offset_point() repeatedly, but we'd do
+    # a lot of repeated calculations that way
+    src_points = euclidify(points, Point2)
+    if closed:
+        src_points.append(src_points[0])
+
+    vecs = vectors_between_points(src_points)
+    direction = direction_of_bend(*src_points[:3])
+    if not internal:
+        direction = opposite_direction(direction)
+
+    perp_vecs = list(
+        (perpendicular_vector(v, direction=direction, length=offset) for v in vecs)
+    )
+
+    lines: list[Line2] = []
+    for perp, a, b in zip(perp_vecs, src_points[:-1], src_points[1:]):
+        lines.append(Line2(a + perp, b + perp))
+
+    intersections = list((a.intersect(b) for a, b in zip(lines[:-1], lines[1:])))
+    if closed:
+        # First point is determined by intersection of first and last lines
+        intersections.insert(0, lines[0].intersect(lines[-1]))
     else:
-        for i in range(len(point_arr) - 2):
-            a, b = point_arr[i:i + 2]
-            par_seg = _parallel_seg(a, b, normal=normal, offset=offset, direction=direction)
-            segs.append(par_seg)
-            # In an open poly, first and last points will be parallel
-            # to the first and last segments, not intersecting other segs
-            if i == 0:
-                offset_pts.append(par_seg.p1)
-            elif i == len(point_arr) - 3:
-                offset_pts.append(segs[-2].p2)
-            else:
-                int_pt = segs[-2].intersect(segs[-1])
-                if int_pt:
-                    offset_pts.append(int_pt)
+        # otherwise use first and last points in lines
+        intersections.insert(0, lines[0].p)
+        intersections.append(lines[-1].p + lines[-1].v)
+    return intersections
+
+
+def offset_point(
+    a: Point2, b: Point2, c: Point2, offset: float, direction: DirectionLR = LEFT_DIR
+) -> Point2:
+    ab_perp = perpendicular_vector(b - a, direction, length=offset)
+    bc_perp = perpendicular_vector(c - b, direction, length=offset)
+
+    ab_par = Line2(a + ab_perp, b + ab_perp)
+    bc_par = Line2(b + bc_perp, c + bc_perp)
+    result = ab_par.intersect(bc_par)
+    return result
 
-    return offset_pts
 
 # ==================
 # = Offset helpers =
 # ==================
-def _parallel_seg(p, q, offset, normal=Vector3(0, 0, 1), direction=LEFT):
-    # returns a PyEuclid Line3 parallel to pq, in the plane determined
-    # by p,normal, to the left or right of pq.
-    v = q - p
-    angle = direction
-
-    rot_v = v.rotate_around(axis=normal, theta=angle)
-    rot_v.set_length(offset)
-    return Line3(p + rot_v, v)
-
-def _inside_direction(a, b, c, offset=10):
-    # determines which direction (LEFT, RIGHT) is 'inside' the triangle
-    # made by a, b, c.  If ab and bc are parallel, return LEFT
-    x = _three_point_normal(a, b, c)
-
-    # Make two vectors (left & right) for each segment.
-    l_segs = [_parallel_seg(p, q, normal=x, offset=offset, direction=LEFT) for p, q in ((a, b), (b, c))]
-    r_segs = [_parallel_seg(p, q, normal=x, offset=offset, direction=RIGHT) for p, q in ((a, b), (b, c))]
-
-    # Find their intersections.
-    p1 = l_segs[0].intersect(l_segs[1])
-    p2 = r_segs[0].intersect(r_segs[1])
-
-    # The only way I've figured out to determine which direction is
-    # 'inside' or 'outside' a joint is to calculate both inner and outer
-    # vectors and then to find the intersection point closest to point a.
-    # This ought to work but it seems like there ought to be a more direct
-    # way to figure this out. -ETJ 21 Dec 2012
-
-    # The point that's closer to point a is the inside point.
-    if a.distance(p1) <= a.distance(p2):
-        return LEFT
-    else:
-        return RIGHT
 
-def _other_dir(left_or_right:int) -> int:
-    if left_or_right == LEFT:
-        return RIGHT
-    else:
-        return LEFT
 
-def _three_point_normal(a:Point3, b:Point3, c:Point3) -> Vector3:
-    ab = b - a
-    bc = c - b
+def pairwise_zip(ls: Sequence) -> zip:  # type:ignore
+    return zip(ls[:-1], ls[1:])
 
-    seg_ab = Line3(a, ab)
-    seg_bc = Line3(b, bc)
-    x = seg_ab.v.cross(seg_bc.v)
-    return x
 
-# =============
-# = 2D Fillet =
-# =============
-def _widen_angle_for_fillet(start_degrees:float, end_degrees:float) -> Tuple[float, float]:
-    # Fix start/end degrees as needed; find a way to make an acute angle
-    if end_degrees < start_degrees:
-        end_degrees += 360
+def cross_2d(a: Vector2, b: Vector2) -> float:
+    """
+    scalar value; tells direction of rotation from a to b;
+    see direction_of_bend()
+    # See http://www.allenchou.net/2013/07/cross-product-of-2d-vectors/
+    """
+    return a.x * b.y - a.y * b.x
 
-    if end_degrees - start_degrees >= 180:
-        start_degrees, end_degrees = end_degrees, start_degrees
 
-    epsilon_degrees = 2
-    return start_degrees - epsilon_degrees, end_degrees + epsilon_degrees
+def direction_of_bend(a: Point2, b: Point2, c: Point2) -> DirectionLR:
+    """
+    Return LEFT_DIR if angle abc is a turn to the left, otherwise RIGHT_DIR
+    Returns RIGHT_DIR if ab and bc are colinear
+    """
+    direction = LEFT_DIR if cross_2d(b - a, c - b) > 0 else RIGHT_DIR
+    return direction
+
+
+def opposite_direction(direction: DirectionLR) -> DirectionLR:
+    return LEFT_DIR if direction == RIGHT_DIR else RIGHT_DIR
+
+
+def perpendicular_vector(
+    v: Vector2, direction: DirectionLR = RIGHT_DIR, length: float = None
+) -> Vector2:
+    perp_vec = Vector2(v.y, -v.x)
+    result = perp_vec if direction == RIGHT_DIR else -perp_vec
+    if length is not None:
+        result.set_length(length)
+    return result
 
-def fillet_2d(three_point_sets:Sequence[Tuple[Point2, Point2, Point2]], 
-                orig_poly:OpenSCADObject, 
-                fillet_rad:float, 
-                remove_material:bool=True) -> OpenSCADObject:
-    # NOTE: three_point_sets must be a list of sets of three points
-    # (i.e., a list of 3-tuples of points), even if only one fillet is being done:
-    # e.g.  [[a, b, c]]
-    # a, b, and c are three points that form a corner at b.
-    # Return a negative arc (the area NOT covered by a circle) of radius rad
-    # in the direction of the more acute angle between
-
-    # Note that if rad is greater than a.distance(b) or c.distance(b), for a
-    # 90-degree corner, the returned shape will include a jagged edge.
-
-    # TODO: use fillet_rad = min(fillet_rad, a.distance(b), c.distance(b))
-
-    # If a shape is being filleted in several places, it is FAR faster
-    # to add/ remove its set of shapes all at once rather than
-    # to cycle through all the points, since each method call requires
-    # a relatively complex boolean with the original polygon.
-    # So... three_point_sets is either a list of three Euclid points that
-    # determine the corner to be filleted, OR, a list of those lists, in
-    # which case everything will be removed / added at once.
-    # NOTE that if material is being added (fillets) or removed (rounds)
-    # each must be called separately.
-
-    if len(three_point_sets) == 3 and isinstance(three_point_sets[0], (Vector2, Vector3)):
-        three_point_sets = [three_point_sets] # type: ignore
-
-    arc_objs = []
-    for three_points in three_point_sets:
 
-        assert len(three_points) in (2, 3)
-        # make two vectors out of the three points passed in
-        a, b, c = euclidify(three_points, Point3)
+def vectors_between_points(points: Sequence[Point23]) -> list[Vector23]:
+    """
+    Return a list of the vectors from each point in points to the point that follows
+    """
+    vecs = list((b - a for a, b in pairwise_zip(points)))  # type:ignore
+    return vecs
+
 
-        # Find the center of the arc we'll have to make
-        offset = offset_points([a, b, c], offset=fillet_rad, inside=True)
-        center_pt = offset[1]
+# =============
+# = 2D Fillet =
+# =============
 
-        a2, b2, c2, cp2 = [Point2(p.x, p.y) for p in (a, b, c, center_pt)]
 
-        a2b2 = LineSegment2(a2, b2)
-        c2b2 = LineSegment2(c2, b2)
+def fillet_2d(
+    three_point_sets: Sequence[tuple[Point23, Point23, Point23]],
+    orig_poly: OpenSCADObject,
+    fillet_rad: float,
+    remove_material: bool = True,
+) -> OpenSCADObject:
+    """
+    Return a polygon with arcs of radius `fillet_rad` added/removed (according to
+    `remove_material`) to corners specified in `three_point_sets`.
 
-        # Find the point on each segment where the arc starts; Point2.connect()
-        # returns a segment with two points; Take the one that's not the
-        # center
-        afs = cp2.connect(a2b2)
-        cfs = cp2.connect(c2b2)
+    e.g. Turn a sharp external corner to a rounded one, or add material
+    to a sharp interior corner to smooth it out.
+    """
+    arc_objs: list[OpenSCADObject] = []
+    # TODO: accept Point3s, and project them all to z==0
+    for three_points in three_point_sets:
+        a, b, c = (project_to_2D(p) for p in three_points)
+        ab = a - b
+        bc = b - c
 
-        afp, cfp = [
-            seg.p1 if seg.p1 != cp2 else seg.p2 for seg in (afs, cfs)]
+        direction = direction_of_bend(a, b, c)
 
-        a_degs, c_degs = [
-            (degrees(atan2(seg.v.y, seg.v.x))) % 360 for seg in (afs, cfs)]
+        # center lies at the intersection of two lines parallel to
+        # ab and bc, respectively, each offset from their respective
+        # line by fillet_rad
+        ab_perp = perpendicular_vector(ab, direction, length=fillet_rad)
+        bc_perp = perpendicular_vector(bc, direction, length=fillet_rad)
+        center = offset_point(a, b, c, offset=fillet_rad, direction=direction)
+        # start_pt = center + ab_perp
+        # end_pt = center + bc_perp
 
-        start_degs = a_degs
-        end_degs = c_degs
+        start_degrees = degrees(atan2(ab_perp.y, ab_perp.x))
+        end_degrees = degrees(atan2(bc_perp.y, bc_perp.x))
 
-        # Widen start_degs and end_degs slightly so they overlap the areas
+        # Widen start_degrees and end_degrees slightly so they overlap the areas
         # they're supposed to join/ remove.
-        start_degs, end_degs = _widen_angle_for_fillet(start_degs, end_degs)
+        start_degrees, end_degrees = _widen_angle_for_fillet(start_degrees, end_degrees)
 
-        arc_obj = translate(center_pt.as_arr())(
+        arc_obj = translate(center.as_arr())(
             arc_inverted(
-                rad=fillet_rad, start_degrees=start_degs, end_degrees=end_degs)
+                rad=fillet_rad, start_degrees=start_degrees, end_degrees=end_degrees
+            )
         )
-
         arc_objs.append(arc_obj)
 
     if remove_material:
-        poly = orig_poly - arc_objs # type: ignore
+        poly = orig_poly - arc_objs
     else:
-        poly = orig_poly + arc_objs # type: ignore
+        poly = orig_poly + arc_objs
 
     return poly
 
-# ==========================
-# = Extrusion along a path =
-# = ---------------------- =
-# Possible: twist
-def extrude_along_path(shape_pts:Points, 
-                        path_pts:Points, 
-                        scale_factors:Sequence[float]=None) -> OpenSCADObject:
-    # Extrude the convex curve defined by shape_pts along path_pts.
-    # -- For predictable results, shape_pts must be planar, convex, and lie
-    # in the XY plane centered around the origin.
-    #
-    # -- len(scale_factors) should equal len(path_pts).  If not present, scale
-    #       will be assumed to be 1.0 for each point in path_pts
-    # -- Future additions might include corner styles (sharp, flattened, round)
-    #       or a twist factor
-    polyhedron_pts:Points= []
-    facet_indices:List[Tuple[int, int, int]] = []
-
-    if not scale_factors:
-        scale_factors = [1.0] * len(path_pts)
-
-    # Make sure we've got Euclid Point3's for all elements
-    shape_pts = euclidify(shape_pts, Point3)
-    path_pts = euclidify(path_pts, Point3)
-
-    src_up = Vector3(*UP_VEC)
-
-    for which_loop in range(len(path_pts)):
-        path_pt = path_pts[which_loop]
-        scale = scale_factors[which_loop]
-
-        # calculate the tangent to the curve at this point
-        if which_loop > 0 and which_loop < len(path_pts) - 1:
-            prev_pt = path_pts[which_loop - 1]
-            next_pt = path_pts[which_loop + 1]
-
-            v_prev = path_pt - prev_pt
-            v_next = next_pt - path_pt
-            tangent = v_prev + v_next
-        elif which_loop == 0:
-            tangent = path_pts[which_loop + 1] - path_pt
-        elif which_loop == len(path_pts) - 1:
-            tangent = path_pt - path_pts[which_loop - 1]
-
-        # Scale points
-        this_loop:Point3 = []
-        if scale != 1.0:
-            this_loop = [(scale * sh) for sh in shape_pts]
-            # Convert this_loop back to points; scaling changes them to Vectors
-            this_loop = [Point3(v.x, v.y, v.z) for v in this_loop]
-        else:
-            this_loop = shape_pts[:] # type: ignore
-
-        # Rotate & translate
-        this_loop = transform_to_point(this_loop, dest_point=path_pt, 
-                                        dest_normal=tangent, src_up=src_up)
 
-        # Add the transformed points to our final list
-        polyhedron_pts += this_loop
-        # And calculate the facet indices
-        shape_pt_count = len(shape_pts)
-        segment_start = which_loop * shape_pt_count
-        segment_end = segment_start + shape_pt_count - 1
-        if which_loop < len(path_pts) - 1:
-            for i in range(segment_start, segment_end):
-                facet_indices.append( (i, i + shape_pt_count, i + 1) )
-                facet_indices.append( (i + 1, i + shape_pt_count, i + shape_pt_count + 1) )
-            facet_indices.append( (segment_start, segment_end, segment_end + shape_pt_count) )
-            facet_indices.append( (segment_start, segment_end + shape_pt_count, segment_start + shape_pt_count) )
+def _widen_angle_for_fillet(
+    start_degrees: float, end_degrees: float
+) -> tuple[float, float]:
+    # Fix start/end degrees as needed; find a way to make an acute angle
+    if end_degrees < start_degrees:
+        end_degrees += 360
 
-    # Cap the start of the polyhedron
-    for i in range(1, shape_pt_count - 1):
-        facet_indices.append((0, i, i + 1))
+    if end_degrees - start_degrees >= 180:
+        start_degrees, end_degrees = end_degrees, start_degrees
 
-    # And the end (could be rolled into the earlier loop)
-    # FIXME: concave cross-sections will cause this end-capping algorithm
-    # to fail
-    end_cap_base = len(polyhedron_pts) - shape_pt_count
-    for i in range(end_cap_base + 1, len(polyhedron_pts) - 1):
-        facet_indices.append( (end_cap_base, i + 1, i) )
+    epsilon_degrees = 0.1
+    return start_degrees - epsilon_degrees, end_degrees + epsilon_degrees
 
-    return polyhedron(points=euc_to_arr(polyhedron_pts), faces=facet_indices) # type: ignore
 
+# ==============
+# = 2D DRAWING =
+# ==============
+def path_2d(
+    points: Sequence[Point23], width: float = 1, closed: bool = False
+) -> list[Point2]:
+    """
+    Return a set of points describing a path of width `width` around `points`,
+    suitable for use as a polygon().
 
+    Note that if `closed` is True, the polygon will have a hole in it, meaning
+    that `polygon()` would need to specify its `paths` argument. Assuming 3 elements
+    in the original `points` list, we'd have to call:
+    path_points = path_2d(points, closed=True)
+    poly = polygon(path_points, paths=[[0,1,2],[3,4,5]])
 
-# {{{ http://code.activestate.com/recipes/577068/ (r1)
+    Or, you know, just call `path_2d_polygon()` and let it do that for you
+    """
+    p_a = offset_points(points, offset=width / 2, internal=True, closed=closed)
+    p_b = list(
+        reversed(offset_points(points, offset=width / 2, internal=False, closed=closed))
+    )
+    return p_a + p_b
 
 
-def frange(*args):
-    """frange([start, ] end [, step [, mode]]) -> generator
+def path_2d_polygon(
+    points: Sequence[Point23], width: float = 1, closed: bool = False
+) -> polygon:
+    """
+    Return an OpenSCAD `polygon()` in an area `width` units wide around `points`
+    """
+    path_points = path_2d(points, width, closed)
+    paths = [list(range(len(path_points)))]
+    if closed:
+        paths = [list(range(len(points))), list(range(len(points), len(path_points)))]
+    return polygon(path_points, paths=paths)
+
+
+# =================
+# = NUMERIC UTILS =
+# =================
+def frange(
+    start: float,
+    end: float,
+    num_steps: int = None,
+    step_size: float = 1.0,
+    include_end=True,
+):
+    # if both step_size AND num_steps are supplied, num_steps will be used
+    step_size = step_size or 1.0
+
+    if num_steps:
+        step_count = num_steps - 1 if include_end else num_steps
+        step_size = (end - start) / step_count
+    mode = 3 if include_end else 1
+    return _frange_orig(start, end, step_size, mode)
+
+
+def _frange_orig(*args):
+    """
+    # {{{ http://code.activestate.com/recipes/577068/ (r1)
+    frange([start, ] end [, step [, mode]]) -> generator
 
     A float range generator. If not specified, the default start is 0.0
     and the default step is 1.0.
@@ -1195,16 +1352,16 @@ def frange(*args):
         mode = args[3]
         args = args[0:3]
     elif n != 3:
-        raise TypeError('frange expects 1-4 arguments, got %d' % n)
+        raise TypeError("frange expects 1-4 arguments, got %d" % n)
     assert len(args) == 3
     try:
         start, end, step = [a + 0.0 for a in args]
     except TypeError:
-        raise TypeError('arguments must be numbers')
+        raise TypeError("arguments must be numbers")
     if step == 0.0:
-        raise ValueError('step must not be zero')
+        raise ValueError("step must not be zero")
     if not isinstance(mode, int):
-        raise TypeError('mode must be an int')
+        raise TypeError("mode must be an int")
     if mode & 1:
         i, x = 0, start
     else:
@@ -1224,14 +1381,27 @@ def frange(*args):
         i += 1
         x = start + i * step
 
-# end of http://code.activestate.com/recipes/577068/ }}}
+
+def clamp(val: float, min_val: float, max_val: float) -> float:
+    result = max(min(val, max_val), min_val)
+    return result
+
+
+def lerp(
+    val: float, min_in: float, max_in: float, min_out: float, max_out: float
+) -> float:
+    if min_in == max_in or min_out == max_out:
+        return min_out
+
+    ratio = (val - min_in) / (max_in - min_in)
+    result = min_out + ratio * (max_out - min_out)
+    return result
+
 
 # =====================
 # = D e b u g g i n g =
 # =====================
-
-
-def obj_tree_str(sp_obj:OpenSCADObject, vars_to_print:Sequence[str]=None) -> str:
+def obj_tree_str(sp_obj: OpenSCADObject, vars_to_print: Sequence[str] = None) -> str:
     # For debugging.  This prints a string of all of an object's
     # children, with whatever attributes are specified in vars_to_print
 
@@ -1253,6 +1423,13 @@ def obj_tree_str(sp_obj:OpenSCADObject, vars_to_print:Sequence[str]=None) -> str
 
     # Add all children
     for c in sp_obj.children:
-        s += indent(obj_tree_str(c, vars_to_print)) # type: ignore
+        s += indent(obj_tree_str(c, vars_to_print))  # type: ignore
 
     return s
+
+
+# =====================
+# = DEPENDENT IMPORTS =
+# =====================
+# imported here to mitigate import loops
+from solid.extrude_along_path import extrude_along_path  # noqa
diff --git a/tox.ini b/tox.ini
index 3214ddc8..e4867642 100644
--- a/tox.ini
+++ b/tox.ini
@@ -1,27 +1,17 @@
-# content of: tox.ini , put in same dir as setup.py
 [tox]
-# envlist = py27,py36
-skipsdist = True
-envlist = py37
-# formerly included ,pep8
+envlist = tests, docs
+skipsdist = true
 
 [testenv]
-whitelist_externals = poetry
-commands=
-    poetry install -v
-    python solid/test/test_screw_thread.py
-    python solid/test/test_solidpython.py
-    python solid/test/test_utils.py
+allowlist_externals = uv
+commands_pre =
+    uv sync --group dev
+commands =
+    uv run pytest
 
 [testenv:docs]
-deps=sphinx
-commands = python setup.py build_sphinx
-
-# [testenv:pep8]
-# deps=flake8
-# commands =
-#     flake8 solid
-#
-# [flake8]
-# show-source = true
-# ignore = E111,E113,E121,E122,E126,E127,E201,E202,E203,E221,E222,E231,E241,E261,E265,E303,E401,E501,E711,F401,F403,F841,H101,H201,H301,H302,H303,H305,H306,H307,H404,H405,W291,W293,W391
+allowlist_externals = uv
+commands_pre =
+    uv sync --group dev
+commands =
+    uv run sphinx-build -b html Doc Doc/_build/html
\ No newline at end of file
diff --git a/uv.lock b/uv.lock
new file mode 100644
index 00000000..84054176
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,692 @@
+version = 1
+revision = 2
+requires-python = ">=3.10"
+resolution-markers = [
+    "python_full_version >= '3.11'",
+    "python_full_version < '3.11'",
+]
+
+[[package]]
+name = "alabaster"
+version = "1.0.0"
+source = { registry = "https://pypi.org/simple" }
+sdist = { url = "https://files.pythonhosted.org/packages/a6/f8/d9c74d0daf3f742840fd818d69cfae176fa332022fd44e3469487d5a9420/alabaster-1.0.0.tar.gz", hash = "sha256:c00dca57bca26fa62a6d7d0a9fcce65f3e026e9bfe33e9c538fd3fbb2144fd9e", size = 24210, upload-time = "2024-07-26T18:15:03.762Z" }
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+]
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+[[package]]
+name = "babel"
+version = "2.17.0"
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+[[package]]
+name = "cachetools"
+version = "6.2.0"
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