There are two ways to put 3D models into a PDF file. Neither of them is an extension of the two-dimensional PDF model. Rather, they’re technologies which were developed independently, which can be wrapped into a PDF, and which software such as Adobe Acrobat can work with.
PDF has become a container format as much as a representational format. It can hold anything, and some of the things it holds have more or less official status, but there are no common architectural principles. The two formats used with PDF are U3D and PRC. Both are actually independent file formats which a PDF can embed.