We address the problem of understanding the dynamics around typical singular points of 3D piecewise smooth vector fields. A model Z0 in 3D presenting a T-singularity is considered and a complete picture of its dynamics is obtained in the following way: (i) Z0 has an invariant plane π0 filled up with periodic orbits (this means that the restriction Z0|π 0 is a center around the singularity), (ii) All trajectories of Z0 converge to the surface π0, and such attraction occurs in a very non-usual and amazing way, (iii) given an arbitrary integer k ≥ 0 then Z0 can be approximated by π0-invariant piecewise smooth vector fields Zε such that the restriction Zε|π 0 has exactly k-hyperbolic limit cycles, (iv) the origin can be chosen as an asymptotic stable equilibrium of Zε when k = 0, and finally, (v) Z0 has infinite codimension in the set of all 3D piecewise smooth vector fields.2010 Mathematics Subject Classification. Primary 34A36, 34C23, 37G10.