I can only pray for full 3D environments with a point and click interface
The only game I can think of that fits that description is Gabriel Knight 3. Its not the best control scheme IMO, but it works well enough. I suppose Myst: URU works as well depending on what you're looking for.
I think the control schemes used in System Shock 2 and Deus Ex could be put to great use in a 3d adventure game. Deus Ex could almost be considerred an adventure game as is.