Directly, .dwg, .dgn and BimRv (.rvt/.rfa) content can be exported to .prc and to 3D .pdf.
Beyond that, anything Visualize can import can be published as 3D .pdf by routing it through a Visualize database and exporting from there - which in practice covers IFC, STEP, IGES, JT, Navisworks, OBJ, STL, Collada and the rest of the Visualize import list. See the Visualize2Pdf example.
Note that 3D .pdf carries geometry, not the source model's property data.
