I found the answer on my own:
public boolean onOptionsItemSelected(MenuItem item) {
    switch (item.getItemId()) {
        case R.id.clear:
            // GLSurfaceView.queueEvent
            surface.queueEvent(new Runnable() {
                @Override
                public void run() {
                    GLES20.glClear(GLES20.GL_COLOR_BUFFER_BIT);
                }
            });
            break;
        // ...
    }
}

 
 
 
                            



