We have a tool that will import your PCB design in 3D from ODB++ or Gerber to SolidWorks. You can read about it here:
There is a free PCB Design tool called DesignSpark from R-S Components. This tool can Import EAGLE designs. It also has an IDF Export.
There may be some other solutions.
If you want to discuss, let me know.
Probably has it sorted out in the 4.5 years since he asked the question......