diff --git a/src/slic3r/GUI/Gizmos/GLGizmoBase.cpp b/src/slic3r/GUI/Gizmos/GLGizmoBase.cpp
index eb629c5c6..5f7422bba 100644
--- a/src/slic3r/GUI/Gizmos/GLGizmoBase.cpp
+++ b/src/slic3r/GUI/Gizmos/GLGizmoBase.cpp
@@ -68,7 +68,11 @@ void GLGizmoBase::Grabber::unregister_raycasters_for_picking()
 }
 #endif // ENABLE_RAYCAST_PICKING
 
+#if ENABLE_RAYCAST_PICKING
+void GLGizmoBase::Grabber::render(float size, const ColorRGBA& render_color)
+#else
 void GLGizmoBase::Grabber::render(float size, const ColorRGBA& render_color, bool picking)
+#endif // ENABLE_RAYCAST_PICKING
 {
 #if ENABLE_LEGACY_OPENGL_REMOVAL
     GLShaderProgram* shader = wxGetApp().get_current_shader();
@@ -316,10 +320,10 @@ bool GLGizmoBase::update_items_state()
 }
 
 #if ENABLE_RAYCAST_PICKING
-void GLGizmoBase::register_grabbers_for_picking()
+void GLGizmoBase::register_grabbers_for_picking(bool use_group_id)
 {
     for (size_t i = 0; i < m_grabbers.size(); ++i) {
-        m_grabbers[i].register_raycasters_for_picking(i);
+        m_grabbers[i].register_raycasters_for_picking(use_group_id ? m_group_id : i);
     }
 }
 
diff --git a/src/slic3r/GUI/Gizmos/GLGizmoBase.hpp b/src/slic3r/GUI/Gizmos/GLGizmoBase.hpp
index 87fbaa6a4..aa930bbae 100644
--- a/src/slic3r/GUI/Gizmos/GLGizmoBase.hpp
+++ b/src/slic3r/GUI/Gizmos/GLGizmoBase.hpp
@@ -8,6 +8,7 @@
 #include "slic3r/GUI/GLModel.hpp"
 #if ENABLE_RAYCAST_PICKING
 #include "slic3r/GUI/MeshUtils.hpp"
+#include "slic3r/GUI/SceneRaycaster.hpp"
 #endif // ENABLE_RAYCAST_PICKING
 
 #include <cereal/archives/binary.hpp>
@@ -77,10 +78,12 @@ protected:
         Grabber() = default;
         ~Grabber();
 
+#if ENABLE_RAYCAST_PICKING
+        void render(bool hover, float size) { render(size, hover ? complementary(color) : color); }
+#else
         void render(bool hover, float size) { render(size, hover ? complementary(color) : color, false); }
-#if !ENABLE_RAYCAST_PICKING
         void render_for_picking(float size) { render(size, color, true); }
-#endif // !ENABLE_RAYCAST_PICKING
+#endif // ENABLE_RAYCAST_PICKING
 
         float get_half_size(float size) const;
         float get_dragging_half_size(float size) const;
@@ -91,7 +94,11 @@ protected:
 #endif // ENABLE_RAYCAST_PICKING
 
     private:
+#if ENABLE_RAYCAST_PICKING
+        void render(float size, const ColorRGBA& render_color);
+#else
         void render(float size, const ColorRGBA& render_color, bool picking);
+#endif // ENABLE_RAYCAST_PICKING
 
 #if ENABLE_RAYCAST_PICKING
         static PickingModel s_cube;
@@ -200,7 +207,7 @@ public:
     virtual bool on_mouse(const wxMouseEvent &mouse_event) { return false; }
 
 #if ENABLE_RAYCAST_PICKING
-    void register_raycasters_for_picking()   { register_grabbers_for_picking(); on_register_raycasters_for_picking(); }
+    void register_raycasters_for_picking(bool use_group_id = false) { register_grabbers_for_picking(use_group_id); on_register_raycasters_for_picking(); }
     void unregister_raycasters_for_picking() { unregister_grabbers_for_picking(); on_unregister_raycasters_for_picking(); }
 #endif // ENABLE_RAYCAST_PICKING
 
@@ -229,7 +236,7 @@ protected:
     virtual void on_render_input_window(float x, float y, float bottom_limit) {}
 
 #if ENABLE_RAYCAST_PICKING
-    void register_grabbers_for_picking();
+    void register_grabbers_for_picking(bool use_group_id = false);
     void unregister_grabbers_for_picking();
     virtual void on_register_raycasters_for_picking() {}
     virtual void on_unregister_raycasters_for_picking() {}
diff --git a/src/slic3r/GUI/Gizmos/GLGizmoRotate.cpp b/src/slic3r/GUI/Gizmos/GLGizmoRotate.cpp
index 8838e13ec..1aa44d2df 100644
--- a/src/slic3r/GUI/Gizmos/GLGizmoRotate.cpp
+++ b/src/slic3r/GUI/Gizmos/GLGizmoRotate.cpp
@@ -882,6 +882,25 @@ void GLGizmoRotate3D::on_render()
         m_gizmos[Z].render();
 }
 
+#if ENABLE_RAYCAST_PICKING
+void GLGizmoRotate3D::on_register_raycasters_for_picking()
+{
+    // this gizmo is rendered on top of the scene, so the raytraced picker should take it into account
+    m_parent.set_raycaster_gizmos_on_top(true);
+    for (GLGizmoRotate& g : m_gizmos) {
+        g.register_raycasters_for_picking(true);
+    }
+}
+
+void GLGizmoRotate3D::on_unregister_raycasters_for_picking()
+{
+    for (GLGizmoRotate& g : m_gizmos) {
+        g.unregister_raycasters_for_picking();
+    }
+    m_parent.set_raycaster_gizmos_on_top(false);
+}
+#endif // ENABLE_RAYCAST_PICKING
+
 GLGizmoRotate3D::RotoptimzeWindow::RotoptimzeWindow(ImGuiWrapper *   imgui,
                                                     State &          state,
                                                     const Alignment &alignment)
diff --git a/src/slic3r/GUI/Gizmos/GLGizmoRotate.hpp b/src/slic3r/GUI/Gizmos/GLGizmoRotate.hpp
index b97526718..daf8283ff 100644
--- a/src/slic3r/GUI/Gizmos/GLGizmoRotate.hpp
+++ b/src/slic3r/GUI/Gizmos/GLGizmoRotate.hpp
@@ -6,6 +6,7 @@
 namespace Slic3r {
 namespace GUI {
 class Selection;
+
 class GLGizmoRotate : public GLGizmoBase
 {
     static const float Offset;
@@ -84,6 +85,7 @@ public:
     /// <returns>Return True when use the information otherwise False.</returns>
     bool on_mouse(const wxMouseEvent &mouse_event) override;
     void dragging(const UpdateData &data);
+
 protected:
     bool on_init() override;
     std::string on_get_name() const override { return ""; }
@@ -177,13 +179,16 @@ protected:
     void on_dragging(const UpdateData &data) override;
         
     void on_render() override;
-#if !ENABLE_RAYCAST_PICKING
+#if ENABLE_RAYCAST_PICKING
+    virtual void on_register_raycasters_for_picking() override;
+    virtual void on_unregister_raycasters_for_picking() override;
+#else
     void on_render_for_picking() override {
         for (GLGizmoRotate& g : m_gizmos) {
             g.render_for_picking();
         }
     }
-#endif // !ENABLE_RAYCAST_PICKING
+#endif // ENABLE_RAYCAST_PICKING
 
     void on_render_input_window(float x, float y, float bottom_limit) override;