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Java 3D Object Rendering with Yaw/Pitch/Roll

Im looking for a way of displaying a 3D Rectangle, which could be moved by the values a gyrosensor delivers from my arduino.

I just don't know where to start with the Implementation of the 3D Space, the communication works fine.

I did not find any useful information online, however, I just need a Window (Don't know, is JFrame enough for this) with a model that I can set x/y/z and yaw/pitch/roll etc.

Are there libraries or code-examples?

I did see one integration with JavaFX which I have never used yet, or the implementations were in other languages.

Unity worked out for this, even though i was getting buggy behaviour. Therefore i tried out Processing, which turned out to work fine. There are some snippets online where you can pass in the values of your arduino and it just works out.

I cannot provide more details since the project was abandoned.

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